The robot can predict the path that its feet will take as it covers the terrain with a default gait. The yellow lines and circles shows the hypothetical path that the front left leg would take over the terrain. The circles are the locations where the foot is placed onto the ground, the lines are the motion as the foot is picked up, moved to a new location, and put down again. It takes considerable time and energy for any creature to lift its legs up off of the ground and put them down again. If a robot is unaware of its terrain it should always lift its legs to their maximum height to clear what obstacles may or may not exist within its path. This robot isn't blind to its terrain; by knowing what obstacles its feet need to step over the robot can ensure that its feet are moved no higher than what is necessary. On Smooth indoor linoleum the robot understands that the amount of ground clearance required to step forwards is only a few millimeters. In outdoor terrain the robot understands the exact height each individual foot must reach to be able to step over the complex array of obstacles. This makes the robot faster and more efficient.

The robot has the ability to predict the positions where its feet are to be placed onto the ground. This allows it to see possible problems before they have a chance to occur. The third circle from the left shows that a foot is due to be placed on the edge of a book. This is unsafe; the robot could lose its balance and stumble. What the robot can do is correct for this by taking a "baby step". By shortening one instance of its stride, the robot offsets the positions where its feet are due to be placed onto the ground. This offset allows the robot to put its foot down directly onto the flat surface of the book. This is exactly hat the robot desires; the size of the "baby step" was precisely calculated to achieve this result.

The robot can also turn to ovoid poor foot positions, if an obstacle is too steep for the robot to get its foot onto or over it is discovered, the robot's course of action is to find a way around. Some obstacles can't be navigated around, in these cases the robot gives up and attempts to create a new course in a different direction.

The default gait has been modified. This is the new path the feet will take.

Click here to view an image of the robot stepping onto the book.