After testing different motion we feel it is best to have a pull down motion. String attached to a reel and servo.

Fixing the pivot point is still abit tricky(due to the bulge making it 300 instead of 420) but creating a base which covers the lower ribs makes it easier.

After discussing it with the concept team the foot could cover the lower ribs.

The above image shows foot development and testing.

The final foot design is still in the works but we feel we are getting closer