Introduction

In recent years the mechanics of walking robotics has undergone much improvement, but the software to guide the legs has been largely ignored. The walking motion of a human is static only if the ground underfoot is level. When a human encounters a deviation in the terrain such as a rock, or hole; the gait temporarily changes to step over or around the obstacle. The human mind has the ability to coordinate the information from the eyes with the motion of the legs. If it were not for this ability, humans would be constantly stumbling over every obstacle that entered their path. This ability is used so often that it is taken for granted, but it requires complex judgment and planning, which is why walking robots are incapable of it. If this ability could be bestowed upon walking robots they would be far more capable of traveling through chaotic terrain autonomously.