I had to look it up! There's no name for the leg itself that I could find, but there are terms for the way in which they walk. Humans are "plantigrade" meaning we walk with the heel flat to the ground. Animals that walk on their toes, on the other hand, like dogs and cats, are called "digitigrade." And then animals that walk on hooves, such as our satyr friend here, are called "ungulates."
Thanks for making me learn something new!