The robot hardware was the very simple part. Each leg only had 1 degree of freedom and was binary, just contracted or extended with no in-between. It was the

The robot hardware was the very simple part. Each leg only had 1 degree of freedom and was binary, just contracted or extended with no in-between. It was the Stiquito robot http://en.wikipedia.org/wiki/Stiquito http://en.wikipedia.org/wiki/Stiquito , which is dirt cheap and uses muscle wire (nitinol) to move the legs.