In addition, the inclusion of a continuum tail would enable different paradigms of locomotion. For example, in biped robots, the primary focus has been human-like robots where the torso is held vertical during movement, as shown in Fig.1(a). The tail will enable an alternative dinosaur-inspired approach, shown in Fig. 1(b), where the robot's torso is biased forward and the tail balances it behind the legs. Typical scenarios for which a robotic tail could be used in place of modifying the robot's gait include stabilizing the robot after it walks over a ledge, turning the robot, or stabilizing the robot in response to a lateral ground shift.