Preliminary and finalized HW integration of I3

Summary
Hardware integration on I3. This includes the goat-inspired foot-knee system and the soft articulated frame. At M21 a preliminary version will be delivered, while the finalized version will be delivered at M33.
More information & hyperlinks
Web resources: https://ec.europa.eu/research/participants/documents/downloadPublic?documentIds=080166e50b612ad9&appId=PPGMS
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