For the paper, see here:
Oncilla is a larger-cat sized, quadruped robot, able to walk and trot over different substrates, and slopes.
Oncilla-robot is also an open-source project. We are aiming primarily at research with legged quadruped machines: all blueprints to reproduce mechanics, electronics, firmware, control and its simulation environment are freely available online.
Have a look the c4science open-source repository:
And see Oncilla-robot walking around at the EPFL campus (via Youtube)
Oncilla robot strolling around on the EPFL campus
Oncilla Webots simulation
Oncilla robot walking on flat ground
Trotting up the slope
Oncilla robot turning on the spot
The Oncilla robot research project has received funding from the European Community’s Seventh Framework Programme (AMARSi) and from the Swiss National Science Foundation through the National Centre of Competence in Research Robotics.