#3 DropFootFull by Robert Lau
Here is a concept design of a mechanism which should fulfill your requirements. The details are not there, but the idea is fairly simple. A simple gear motor is selected with the appropriate speed and torque, and attached to it a disc with an offset hole. This hole is connected to a rod with pushes against the bottom half of the device, holding the foot. Various holes will be included to allow for a selected of motion ranges. If you have any questions, feel free to message me and we can work out the details of the design.
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