![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiy9-1oIHXTBe8XJ3dwb7LfBiyNxM7GSfFwAD9vyA3y24pd5gHh8seZDh_257rKn-VO-CVWaEBIHf8KZwJe9xJyFaiOmVNv2W6rLaMeaRQQaROnMHcx0x0yH7VLRv2S_w6AorY3qWXQPUo/s400/robot_dog.jpg)
The LittleDog’s legs are powered by three electric motors.
Sensors measure the angles of each joint as well as body orientation and foot/ground contact. The basic strategy for walking over both smooth and rough terrain is to adjust
a smooth walking pattern generator with the selection of every foot placement such that the center of gravity follows a stable trajectory.
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