Wow, it's taken us so long to get (something like) this thing going. 37 years now, and Boston Dynamics is only now in the final steps of productizing v1.
Boston Dynamics' CEO, Marc Raibert, was a professor at CMU at the same time, and Marc and Ivan are good pals. Little-known fact: Ivan convinced Marc to start doing work in legged locomotion! So, in a way, Ivan is responsible for modern legged locomotion by 'seeding' the field with a genius like Marc Raibert! Here's some of what was going on at CMU at the same time as Ivan's Walker: https://www.youtube.com/watch?v=mG_ZKXo6Rlg