StaccaToe: An Anthropomorphic Hopping Robot with an Actuate Toe

In this project, we investigate into the advantages that an actuated toe can bring to dynamic locomotion, utilizing our custom-designed robot, StaccaToe. StaccaToe's design is based on the innovative HyperLeg, incorporating co-actuation and non-collocation principles to create an efficient and effective robotic leg with an actuated toe. We aim to implement a comprehensive range of control strategies, including trajectory optimization, Model Predictive Control (MPC), and whole-body control, to enable StaccaToe to perform agile and highly dynamic maneuvers.