>>2015655I honestly believe it can be, rubber is a surprisingly dense material, significantly more than aluminum, which the structure could be made from. Light weight motors and string based motion can also provide mechanical advantage similar to gearing action. In my mind, a synthetic leg can possibly be significantly lighter than not just a wheel but the whole support structure of the wheel which must include the suspension and braking components. Nature evolved limbs at our scale for a reason, they're multifunctional and efficient, limbs act as suspension, braking, and motion. A properly designed walking vehicle is as desireable as a properly designed ornithopter.
