TorsoBot is a rimless wheel robot, with a kick. It has two wheels on either side with ten spokes each. However, TorsoBot is unique in that it has a rectangular torso which replicates hip actuation in a human walk cycle. Since its initial testing, we are adapting TorsoBot to test ankle actuation as well. We added a tail with two servos which control two small legs. The work done by the push-off legs will allow TorsoBot’s torso to remain vertical while it moves. We plan to use TorsoBot to study the balance of ankle and hip power in both robots in humans.