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ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the spring-mass model for dynamic walking and running. To help bring the extensive work on this theoretical model further into practice, we present the design and validation of a spring-mass robot that can operate in real-world settings (i.e. off-tether and without planarizing restraints). We outline the mechanisms and design choices necessary to meet these specifications, particularly ATRIAS' four-bardoi:10.1177/0278364916648388 fatcat:l6ge3cxq4zhldkzyyeti4zviqq