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).