Joong-Kyung Lee

HyperLeg: Biomechanics-Inspired High-DOF Leg and Toe Mechanism for Highly Dynamic Motions

A human foot with high degrees of freedom (DOF) that has multi-DOF toe joints and a two-DOF ankle provides multiple benefits, such as increased stride length and walking speed, impact mitigation, and enhanced balancing. However, creating such mechanisms for legged robots has been challenging due to…