#Lower Limb Design (2)

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

Introduces StaccaToe, a human-scale electric motor-powered single-leg robot with an actuated toe and co-actuation configuration inspired by the human leg. Without energy storage mechanisms, it demonstrates balanced tip-toe stance and dynamic jumping, providing empirical evidence for replicating human leg attributes in robotic design.

Nisal Perera, Shangqun Yu, Daniel MarewApr 7, 2024

Humanoid LegSingle-Legged RobotToe-DrivenApr 7, 2024

Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics

Presents a systematic co-design framework for humanoid robots using hybrid zero dynamics (HZD) gait generation, coupling actuator virtual constraints with design virtual constraints to jointly optimize robot design parameters and walking gaits. Demonstrated on the ADAM humanoid robot with co-designed thigh and shin for energy-efficient bipedal locomotion.

Adrian B. Ghansah, Jeeseop Kim, Maegan TuckerAug 21, 2023

HZDAdamHumanoidAug 21, 2023