Palm sized legged robots show promise for military and civilian applications, including exploration of hazardous or
difficult to reach places, search and rescue, espionage, and battlefield reconnaissance. However, they also face many
technical obstacles, including- but not limited to- actuator performance, weight constraints, processing power, and power
density. This paper presents an overview of several robots from the Biomimetic Millisystems Laboratory at UC
Berkeley, including the OctoRoACH, a steerable, running legged robot capable of basic navigation and equipped with a
camera and active tail; CLASH, a dynamic climbing robot; and BOLT, a hybrid crawling and flying robot. The paper
also discusses, and presents some preliminary solutions to, the technical obstacles listed above plus issues such as
robustness to unstructured environments, limited sensing and communication bandwidths, and system integration.