![](https://engineering.case.edu/sites/default/files/styles/_none/public/puppy1.jpeg?itok=RHw8a9aC)
Puppy has 12 degrees of freedom actuated by 24 McKibben artificial muscles made by Festo Inc. The robot was built by Kurt Aschenback. A neural system built by Alexander Hunt based on the work in Tetrapod Locomotion has been trained to produce forward walking of the hind legs.