Which is the locomotive algorithm provided in Cheetah 3 robot?

Researchers from MIT have designed a four-legged robot called Cheetah 3 that can run, jump onto desks, and climb obstacle-laden stairs without visual sensors. The 40kg robot has been developed with two new algorithms to provide the robot with 'blind locomotion' capabilities. Using those, the robot adjusts its movements and determines how much force to use to perform actions like stepping forward and pulling back and deals with unexpected forces like a kick. The robot can also recover from adverse conditions like being shoved or yanked by relying on "feel" instead of cameras.