It looks like they did try that, and it moved faster: > “When the robot is undamaged, our approach yields dynamic gaits that are 30% faster than the classic re

It looks like they did try that, and it moved faster: > “When the robot is undamaged, our approach yields dynamic gaits that are 30% faster than the classic reference gait,” say Cully and co. However, there don't appear to be videos of that.