StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe

Description

We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe and a co-actuation configuration inspired by the human leg. Leveraging the foundational design of HyperLeg's lower leg mechanism, we develop a stand-alone robot by incorporating new link designs, custom-designed power electronics, and a refined control system. Unlike previous jumping robots that rely on either special

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