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To traverse complex three-dimensional terrainwith large obstacles, animalsand robots must transition across different modes. However, the mostmechanistic understanding of terrestrial locomotion concerns how to generateand stabilize near-steady-state, single-mode locomotion (e.g. walk, run). Weknow little about how to use physical interaction to make robust locomotortransitions. Here, we review our progress towards filling this gap bydiscovering terradynamic principles of multi-legged locomotor transitions,using simplified model systems representing distinct challenges in complexthree-dimensional terrain. Remarkably, general physical principles emergeacross diverse model systems, by modelling locomotor-terrain interaction usinga potential energy landscape approach. The animal and robots' stereotypedlocomotor modes are constrained by physical interaction. Locomotor transitionsare stochastic, destabilizing, barrier-crossing transitions on the landscape.They can be induced by feed-forward self-propulsion and are facilitated byfeedbackcontrolled active adjustment. General physical principles andstrategies from our systematic studies already advanced robot performance insimple model systems. Efforts remain to better understand the intelligenceaspect of locomotor transitions and how to compose larger-scale potentialenergy landscapes of complex three-dimensional terrains from simple landscapesof abstracted challenges. This will elucidate how the neuromechanical controlsystem mediates physical interaction to generate multi-pathway locomotortransitions and lead to advancements in biology, physics, robotics anddynamical systems theory.

Locomotor transitions in the potential energy landscape-dominated regime