http://engineeringtv.com/blogs/etv/archive/2007/05/10/episode-39-researching-the-robotic-leg.aspxUsing servo motors, magnetic encoders for monitoring and differential force on springs to create torque, researchers at Carnegie Mellon University are creating robotic legs that can walk, run, jump; something we don't even think about when we do theseenCommunityServer 2007.1 (Debug Build: 20917.1142)