ðə mˈeɪdʒɚ dˈɪfɪkˌʌltiz lˈaɪɪŋ ɪn ðiːz ɹˈoʊbɑːts lˈaɪd ɪnðə bˈæləns, ðɪ ˌæktʃuːˈeɪʃən, pˈaʊɚ ɹᵻkwˈaɪɚmənts, ænd ɛnvˈaɪɹənmənt sˈɛnsɪŋ.
The major difficulties lying in these robots lied in the balance, the actuation, power requirements, and environment sensing.