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Comparing the dynamics of the robot and NTRT. The tensioned spring–cable assembly indicated by the dashed line is released (0.32–0.535 m at 0.6 m s−1), causing the robot to topple. Two other actuated members are also tensioned, while the other three actuated springs are at their initial lengths, resulting in two slack springs. We observed a time-averaged error of the end caps' vertical positions of less than 5% of ReCTeR's diameter for all end caps. (Online version in colour.)
