quadruped

They discovered that the length of the rods between the puppeteer and the puppet resulted in small, unpredictable variations in the way the fictional quadruped moved.

Some correspond to familiar gaits of quadrupeds, such as walking, trotting, or hopping.

"It is very curious thus having a quadruped peculiar to so small a tract of country."

"This is a critical part when designing hardware because the current quadruped robots don't last for two hours."

To test this hypothesis, they used DRL to train a quadruped robot to cross various terrains.