Yeah I was disappointed with the movement of the horse too :( I've not read the paper yet, but I wonder if the limited movement of the horse is due to the actu

Yeah I was disappointed with the movement of the horse too :( I've not read the paper yet, but I wonder if the limited movement of the horse is due to the actuators themselves not being able to deform the horse's legs enough? I just found this 'micro actuator' which looks pretty awesome - https://www.youtube.com/watch?v=kHGLYRUKWeM https://www.youtube.com/watch?v=kHGLYRUKWeM Also http://www-robot.mes.titech.ac.jp/research/pamsoftrobo.html http://www-robot.mes.titech.ac.jp/research/pamsoftrobo.html looks very impressive