The system mimics the behavior of vertebrates, whose balance control comes largely from oscillating neurons in the spinal cord, using a combination of encoder sensors (to read relative positions for joints) and inertial measurement units (to measure the body's orientation relative to the ground). The result is a mechanical canine that can walk, run and trot with more grace and speed than usual. Cameras and LiDAR are also present to help robots avoid collisions. This doesn't require dramatic changes to the bots themselves, at least. The test units are Ghost Robotics designs augmented with sensors to test the new algorithms.