I guess this was the very first invention that I’ve made. Of course, I was more involved in the design department. Vidrighin Mihai and Tudor Macicasan came with the idea first.
However, the prototype you will see in these articles has been designed by all of us. The initial one just placed springs on lego-robot legs.
This, how you see it in the articles, is exactly how we’ve designed it. I’ll try to find some of our sketches and the exact presentation we took to Intel ISEF 2006.