If you studied robotics, you'd have learned that some walking/running problems are easier to solve when you have an engine with "unlimited" short-term torque. L

If you studied robotics, you'd have learned that some walking/running problems are easier to solve when you have an engine with "unlimited" short-term torque. Low-powered electric actuators are very bad, hence BD uses gasoline engines to provide that short spike necessary for some differential equations to have a nice solution (e.g. one without power-pumping or without needing a few cycles around to reach your desired state).