"Leo walks at a speed of 20 centimeters (7.87 inches) per second, but can move faster by mixing in some flying with the walking. How wide our steps are, where we place our feet, and where our torsos are in relation to our legs all help us balance when we walk. The robot uses its propellers to help it balance, while its leg actuators move it forward.
"To teach the robot to slackline—which is much harder than walking on a balance beam—the team overrode its feet contact sensors with a fixed virtual foot contact centered just underneath it, because the sensors weren’t able to detect the line. The propellers played a big part as well, helping keep Leo upright and balanced.
"For the robot to ride a skateboard, the team broke the process down into two distinct components: controlling the steeri
