Introducing HyperLeg: Human-like Robot Leg and Foot for Highly Dynamic Motions

Hyperleg: Highly dynamic robot leg aiming at explosive, acrobatic, delicate, and smooth motions, such as walking, sprinting, jumping, or dancing. - 8.2 kg mass, 786 mm height, 4 degrees of freedom - Robust and lightweight 3-DOF foot mechanism - Actuators for the knee, ankle, & toe are located at the thigh frame. - Intentionally coupled transmission for high torque - Human-like wide Range of Motion using unique linkage mechanisms % Supported by Future Mobility Project of WIRobotics Co. % Submitted to IEEE Robotics and Automation Letters (RA-L).