The most advanced Quadruped Robot... the BigDog (program, scientist)
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Check out the BigDog (http://www.bostondynamics.com/content/sec.php?section=BigDog - broken link)
This robot is extreme. All of its programming allow it to move and rebalance. One of the scientists actually kicks the BigDog and it catches itself. There's even an ice test - of which had me laughing pretty hard.
Just imagine one of these being a guard dog in a few years. Quite a force to reckon with!