PresToe: A Humanoid Robot with an Actuated Toe

We explore the transformative advantages of incorporating an actuated toe into humanoid dynamic locomotion using our custom-designed robot, PresToe. Building upon the innovative designs of HyperLeg and its predecessor StaccaToe, PresToe leverages the principles of co-actuation and non-collocation to achieve an efficient and highly capable robotic leg.

To unlock PresToe’s full potential, we aim to implement a suite of advanced control strategies. These include trajectory optimization, Model Predictive Control (MPC), whole-body control, and Reinforcement Learning (RL).