【正文】
s design. ? The use of legs instead of wheels or tracks opens the way for a large number of behaviors ? Passive pliance in the legs overes limitations of underactuation and helps simplify mechanical design, yielding robustness ? Sprawled posture, inspired from insects, results in passive stabilization of lateral motion ? Control is openloop at the gait level, but closed loop at the task level. Stability es as a result of passive mechanics, not highbandwidth active control Running on reasonably flat, natural terrain at speeds up to 5 body l