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

Understand

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 mechanisms (e.g., springs and clutches) or hydraulic/pneumatic actuators, StaccaToe employs electric motors without energy storage mechanisms.
• This choice underscores our ultimate goal of developing a practical, high-performance humanoid robot capable of human-like, stable walking as well as explosive dynamic movements.