An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait

Figure 4

Climbing a step (top) and crossing gaps (bottom) scenarios to present the foothold planning using the proposed Foothold Reflex Control method. Normal walking behavior is momentarily changed upon sensing an obstruction. Once the obstruction is removed (e.g., loss of contact with the obstruction), the normal motions are resumed.