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" ... We live in highly variable environments: different stair heights and room shapes, smooth floors and carpeted floors, wet and dry, noisy and quiet. For autonomous robotic machines to just move within our environment productively, they will need the kinesthetic intelligence of a four-legged animal. To put this in context, the first vertebrate (the hagfish) is estimated to have arrived 450 million years ago. The first four-legged vertebrate was the tetrapod, 390 million years ago — so it took about 60 million years of evolution to navigate the unstructured environment of primordial earth. ... "