The field of biorobotics has developed and flourished as a multidiscip-linary interface between biologists and engineers (Ritzmann et al., 2000; Webb & Consi, 2001; Ayers et al., 2002). Collaborative work in the field initially arose from the recognition that studies of animal locomotion could provide insights in solving complex problems in the design and control of mobile machines (Beer et al., 1998). For example, some animals are remarkably successful at efficiently traversing irregu-lar and non-horizontal terrains with great agility. Understanding the principles of leg and foot structure and the neural mechanisms of control of limb movements provides insights that can be emulated in the construction and regulation of legged robots to similar advantage. These insights have been successfully applied both to legged machines that resemble animals in their design and to robots that incorporate these principles more abstractly (Quinn et al., 2003).

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