Oncilla is a compliant, quadruped robot developed during the FP7 European project AMARSi (Adaptive Modular Architectures for Rich Motor Skills, project start March 2010, project duration 48 months, 4 Oncilla copies build and distributed, 2 remain at BIOROB). The goal of the AMARSi project was to improve richness of robotic motor skills. Oncilla is a highly sensorized robot with panthographic legs (ASLP legs) as well as an abduction/adduction (AA) mechanism. The sensorization features encoders on each joint and motor, IMU as well as new ground contact sensors in the feet (3d force-sensors). The research done with the BIOROB team focuses around closed loop rough terrain locomotion and richer motor behaviors through a combination of CPG’s and reflexes.