The algorithm called guided RRT for the six-legged walking robot considers the problem of planning a sequence of elementary motions (steps) and its implementation on the real robot. It takes into account that the robot has limited abilities to perceive the environment. The A* algorithm is used for long horizon planning on a map obtained from the stereo camera data. Then, the RRT-Connect method is used to find a sequence of feasible movements for the body and feet of the robot on a more precise map obtained by using the Hokuyo laser rangefinder.
D. Belter, Perception-based motion planning for a walking robot in rugged terrain, In Lecture Notes in Control and Information Sciences: Robot Motion and Control (K. Kozłowski, Ed.), pp. 127-136, Springer, Berlin 2011 (pdf)
D. Belter, P. Łabęcki, P. Skrzypczyński, On-Board Perception and Motion Planning for Legged Locomotion over Rough Terrain, 5th European Conference on Mobile Robots, Örebro, Sweden, pp. 195-200, 2011 (pdf)