Li:

This paper is well written, clearly presented and easy to understand.
It is a new effort of using haptic feedback on control of a highly
dynamic running robot.  I don't have too many comments except one
thing:

As a 6-page paper, not many data are presented in the paper.  It would
be much better if at least some initial data can be provided to show
that this is a promising direction to pursue.


Sal:

This paper presents an interesting method for combining a haptic device with
a dynamic robot. It also describes some of the features of the RHex robot, the
RHexLib library, the 6-DOF haptic master and the vision system. The paper is
well executed, but I have reservations about the novelty of the research:

The authors inform that using haptic feedback for locomotion has been done
before; for example: (Lee 2005), and claim their addition is by using a dynamic
robot. However, their current work seems to only involve the connection between
robot and haptic device, and experiments to demonstrate the added benefit is
left as future work. Thus, the paper is mostly a methods paper with some
preliminary results. My concern (and I'm not sure how much this matters.)
is that the method is not novel without the experiments.