Moving in a cluttered environment with a six-legged walking machine that has additional
body actuators, therefore controlling 22 DoFs, is not a trivial task. Already simple forward
walking on a flat plane requires the system to select between different internal states. The
orchestration of these states depends on walking velocity and on external disturbances.
Such disturbances occur continuously, for example due to irregular up-and-down
movements of the body or slipping of the legs, even on flat surfaces, in particular when …