There should be a Robotics Institute technical report about it, I recall Claude Shannon wrote a whimsical poem about the the hexapod.
[edit] some context: Ivan was a founder of Evans & Sutherland, a groundbreaking developer of computer graphics systems. From the wikipedia page: "Most of the employees were active or former students, and included Jim Clark, who started Silicon Graphics, Ed Catmull, co-founder of Pixar, John Warnock of Adobe, and Scott P. Hunter of Oracle."
https://en.wikipedia.org/wiki/Evans_%26_Sutherland
He is also known for Sketchpad, perhaps the first graphical user interface:
Also quick access to the weak library!
It was followed by the OSU Adaptive Suspension Vehicle.[1] This may have been the first walking machine with active computer control. Despite the claims of off-road capabilities, it could at best handle a dirt road with a slight slope. They got it to walk over a log, but that was with 5 legs locked and the operator managing one leg with a joystick.
https://www.youtube.com/watch?v=jrMfU2FtSBk&feature=youtu.be...
https://www.google.com/maps/@40.4420983,-79.9460873,3a,75y,3...
Ivan has such a simple, elegant way of explaining things. In just a few sentences he clearly explained all the key elements of the walker.
That's a wonderful pedagogical talent. Another person with such a talent was Richard Feynman.
See also this Scientific American article of theirs https://www.academia.edu/28215739/Machines_That_Walk
Timberjack was bought by John Deere in 2000, and the subsidiary discontinued in '06.
Anyway, awesome work, and amazing to see how long we've been thinking about this stuff IRL
