Watched this tonight and it blew me away. I can’t believe I haven’t seen it before. BigDog is a quadruped robot created in 2005 by a firm called Boston Dynamics and JPL and funded, of course, by DARPA. Bloody amazing balance this thing has. Mind bending the computations required to get this to work under these conditions (in snow, on ice, jumping, being kicked in the side while walking, etc).