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This work presents the design, fabrication, and testing of a novel hexapedal walking millirobot using only two actuators. Fabricated from S2-glass reinforced composites and flexible polymer hinges using the smart composite microstructures (SCM) process, the robot is capable of speeds up to 1 body length/sec or approximately 3 cm/s. All power and control electronics are onboard and remote commands are enabled by an IrDA link. Actuation is provided by shape memory alloy wire. At 2.4 g including control electronics and battery, RoACH is the smallest and lightest autonomous legged robot produced to date.