Comment by pbmonster

The jumps are pretty impressive, this thing has some power. I'd be very curious how fast you could get this dog with some reinforcement learning for a proper transverse gallop gait - and if it converges towards a gallop naturally, or if it discovers some other fast gait patterns during learning.

Depending on the max speed of the motors/legs, giving it longer foot pads might be necessary for a good gallop. Intuitively, it looks a bit... "low gear" in the videos.