  This paper introduces Bruce, the CSIRO Dynamic Hexapod Robot capable of
autonomous, dynamic locomotion over difficult terrain. This robot is built
around Apptronik linear series elastic actuators, and went from design to
deployment in under a year by using approximately 80\% 3D printed structural
(joints and link) parts. The robot has so far demonstrated rough terrain
traversal over grass, rocks and rubble at 0.3m/s, and flat-ground speeds up to
0.5m/s. This was achieved with a simple controller, inspired by RHex, with a
central pattern generator, task-frame impedance control for individual legs and
no foot contact detection. The robot is designed to move at up to 1.0m/s on
flat ground with appropriate control, and was deployed into the the DARPA SubT
Challenge Tunnel circuit event in August 2019.
