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However, the leg mechanisms and actuators needed for versatile locomotion are much more challenging to manufacture and integrate in sub\u2010gram scale robots. Herein, Picotaur, a 15.4\u2009mg hexapedal robot with legs that enable various locomotion tasks such as turning, climbing 3D\u2010printed stairs, and pushing loads for the first time at these size scales, is presented. 3D printing with two\u2010photon polymerization enables the manufacture of electrostatically driven 2 degrees of freedom legs on a robot body made from a flexible printed circuit board. Based on simple control inputs, Picotaur can achieve alternating tripod gaits, reaching speeds up to 57\u2009mm (7.2 body lengths) per second, as well as pronking gaits to tackle a wider variety of terrain. 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