Hermóðr road to Hel. Whoever agreed was to offer Hel a ransom in exchange for Baldr's return to Asgard. Hermóðr agrees to this and set off with Sleipnir to Hel. Hermóðr rode Odin's horse Sleipnir for nine nights through deep and dark valleys to the Gjöll bridge covered with shining gold, the bridge being guarded by the maiden Móðguðr 'Battle-frenzy' or 'Battle-tired'. Móðguðr told Hermóðr that Baldr had already crossed the bridge and that Hermóðr should ride downwards and northwards. Upon coming to Hel's gate, Hermóðr dismounted, tightened Sleipnir's girth, mounted again, and spurred Sleipnir so that Sleipnir leapt entirely over
Legged robot tripod. Four-legged robots also benefit from a lower center of gravity than two-legged systems. Four legged robots include: Six-legged robots, or "hexapods", are motivated by a desire for even greater stability than bipedal or quadrupedal robots. Their final designs often mimic the mechanics of insects, and their gaits may be categorized similarly. These include: Six-legged robots include: Eight-legged legged robots are inspired by spiders and other arachnids, as well as some underwater walkers. They offer by far the greatest stability, which enabled some early successes with legged robots. Eight-legged robots include: Some robots use a combination of legs and wheels.