Overcoming obstacles typical for a flat terrain by a walking robot

An upper estimate of the maximum width of the forbidden zone for foot fulcrums, which a walking robot can overcome in static stability mode, is presented. Using the examples of six-legged and four-legged robot, it is shown that the obtained estimate can't be improved. For this purpose, the sequences of the robot's foot placement have been formed, ensuring the achievement of the estimation meaning. The results of computer modeling and video materials illustrating the process of overcoming an obstacle by a six-legged robot are presented.