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.
Anyway, awesome work, and amazing to see how long we've been thinking about this stuff IRL
