robots with actuated toes
StaccaToe and PresToe explore how actuated toes, co-actuation, and non-collocation enable dynamic legged locomotion.
Human feet use an articulated toe to extend push-off and manage balance. We study how robots can use the same mechanism for agile, dynamic locomotion through two custom platforms: PresToe, a humanoid robot with an actuated toe, and StaccaToe, a single-legged hopping robot that mimics the human leg and toe.
PresToe uses co-actuation and non-collocation to create an efficient and capable robotic leg. We are developing trajectory optimization, model-predictive control (MPC), whole-body control, and reinforcement learning strategies to unlock its dynamic locomotion capabilities.
StaccaToe applies the same design principles to a single-legged hopper. Its actuated toe provides a platform for studying push-off, balance, and agile maneuvers while comparing legged robot mechanics with the biomechanics of the human foot.
