I've got to say, this just looked like yet another in the line of CMU robot videos -- impressive, but only to someone who actually knows how hard this is -- unt

I've got to say, this just looked like yet another in the line of CMU robot videos -- impressive, but only to someone who actually knows how hard this is -- until the kick. And then the ice-patch sequence, which is just awesome. Kudos to you and your coworkers. This obviously represents one hell of a lot of patient work.