New developped horse-like robot in US army

http://www.bostondynamics.com/dist/BigDog_Feb-26-2006.wmv

Just watch it in internet, impressive.
the robot walks just like the real horse and could rejects the external disturbance such as push or kick by a mature male.
Just share with you guys.
Anybody gets an idea what control method used by them to make the robot keep balance perfect like real animals?
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