Primary institutional research account: news.mit.edu/2015/cheetah-robot-lands-running-jump-0529 . Jennifer Chu, MIT News Office, 29 May 2015. See, run, jump describes onboard LIDAR, obstacle estimates, stride adjustment and motor-force planning; later paragraphs distinguish treadmill from indoor-track trials and their available planning distance. The account concerns that 2015 demonstration, not every later MIT Cheetah version.

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