Big Muskie, a 15,000 ton walking dragline is used for strip mining. Human runners set new speed records on tuned track at Harvard. Its compliance is adjusted to mechanics of human leg. Quadruped machine climbs stairs and climbs over obstacles using simple sensors and reflex-like control. The leg mechanism simplifies control.
Mechanism balances in the plane while hopping on one leg.
Biped balances actively while walking in three dimensional space. Self-contained hexapod carries human rider. Computer, hydraulics, and human share computing task. Quadruped runs with trotting, pacing, and bounding gaits, and changes between gaits. Planar biped with knees walks passively down sloping surface.