Modular: Obstacles

Modular controller changes gaits while navigating bumps on a terrain with obstacles. Initially, the robot moves with a bound gait. When it encounters the first bump, its legs hitting that bump perturbs the dynamics of the controller. These perturbations cause the controller to transition to a trot gait, which allows the robot to step over the bumps. Thus, modular controllers have the flexibility and robustness necessary for navigating difficult terrain.