"club-foot, deformed foot," from Latin talus "ankle" (see talus (n.1)) + pes "foot" (from PIE root *ped- "foot"). The notion seems to be "walking on the ankles."
Entries linking to talipes
talus n.1
"anklebone," 1690s, from Latin talus "ankle, anklebone, knucklebone" (plural tali), related to Latin taxillus "a small die, cube" (they originally were made from the knucklebones of animals).
It is the hypothetical source of/evidence for its existence is provided by: Sanskrit pad-, accusative padam "foot;" Avestan pad-; Greek pos, Attic pous, genitive podos; Latin pes, genitive pedis "foot;" Lithuanian padas "sole," pėda "footstep;" Old English fot, German Fuß, Gothic fotus "foot."