Observations:

• An impressive 2.5 body lengths per second is achieved and fairly robust performance over obstacles that are the same height as the "stomach" clearance is obtained.
• This is mainly attributed to the swinging of the legs as well as increased foot traction gained by padding the track and obstacles with high-friction materials. The issues of foot traction is raised: Cockroaches can achieve high traction due to their small size and intricate leg design. Will our scaled-up robots be able to do the same? Will they be able to operate with the same magnitude of horizontal forces without slipping? Will they get stuck in upward slopes?
• Though the speed achieved is impressive, the behavior is still too "hoppy" and not very "Groucho-like" [McMahon, et al. 1987]. Minisprawl is observed to bottom-out, or crash, during the gait.
• Playing the videos in slow motion (or one frame at a time as one can do by using the arrow keys in Movie Player) one can see that there is a galloping or bounding quality to the motion.