Two quick and recent videos from the BuildIts blog showing Ben Katz’s progress with a robotic leg design, showing extensible action and response time from keyboard commands. You can see they have pretty good ‘thrust’ and from an appropriate surface could probably ‘jump’ quite high. Fun!
I milled out a simple 4-bar linkage leg. Leg dimensions were roughly taken from the SMC robot. It’s really fun to prod at with different joint parameters. Each motor controller takes joint position, stiffness, and damping commands in over SPI