Squash and Stretch
The Little Dog robot is a small (3 kg, 30 cm length) robot dog with 3 degrees-of-freedom per leg, i.e., a total of 12 degrees-of-freedom. It has force sensors at the feet, and an IMU for attitude control. The Little Dog robot is used to study autonomous locomotion over very rough terrain. The robot was funded by the DARPA L2 project.