BigDog Boston Dynamics

BigDog has four legs that are articulated like an animal's, with compliant elements to absorb shock and recycle energy from one step to the next. BigDog is the size of a large dog or small mule. BigDog's on-board computer controls locomotion, processes sensors, and handles communications with the user. BigDog's control system keeps it balanced, manages locomotion on a wide variety of terrain, and does navigation. Sensors for locomotion include joint position, joint force, ground contact, ground load, a gyroscope, LIDAR, and a stereo vision system.