I remember a three legged version, with the inner leg out of phase with the outer two. This is a more refined two legged version, http://www.youtube.com/watch?v

I remember a three legged version, with the inner leg out of phase with the outer two. This is a more refined two legged version, http://www.youtube.com/watch?v=_2pAMe_5VeY http://www.youtube.com/watch?v=_2pAMe_5VeY . Power here is gravity, in the form of a slight slope on the surface it's walking on. The walking form is all from dynamic motion, no electronic control. It looks simpler than a jansen linkage, much more like the physiology of our legs. (and there's a funny story there, Prof Ruina had a limp when he taught the class, because he had implanted studs in the bones of one of his legs so that they could motion capture the bone motion when he walked. Not sure if the limp affected that.)