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If we have a moving mass in front, that creates also a disturbance in the legs. So what we're developing is algorithms that can take into account that external disturbance from the payload or from the arm. And then servo the legs, control the legs in a way to compensate for these disturbances. And we've managed to do this very well; there's an example where we moved the arm left and right relatively fast, and if we don't use the smart controller the robot moves a lot. But if we turn on the smart controller, the torque and forces in the cylinders and joints are optimized so that the robot is relatively firm and rejects all these external disturbances.