The leg was made for the Shadow Robot Co. as part of a contract from North Carolina A & T University.
Design and construction by David Buckley - 2005.
The prototype, constructed mainly from mdf, shows the range of movements of the leg.
The actuators are Shadow Air muscles, a development of the McKibben artificial muscle.
The leg was designed to hang from a frame and mimic the movements of a human control leg. As usual, the weather was against outside photography and room was limited on setup at Shadow, so similar photographs of the final leg were never taken!
A big-toe length of 60mm from the main joint centre resulted in a very stubby and un-natural looking toe so the toe length was changed to 70mm, still within the overall foot lenght of 240mm.
The Ankle height was not specified and it was set at 90mm.
All the kinematic angles were achievable, in addition, Hip 1 achieved ~+35, ~-35