Robot II’s controller lies in an off-board PC. The gait controller is based on the mechanisms thought to coordinate the legs of the stick insect (as reported in the biological literature). It consists of a distributed system of influences between adjacent legs that induce a continuous range of insect-like gaits. By varying a single velocity control parameter, the gaits range from a slow wave gait to a fast tripod gate. Rough terrain navigation is accomplished by integrating insect-like reflexes with the gait controller. An elevator reflex is implemented to clear large objects, and a searching reflex allows the robot to find a foot support on uneven or missing terrain.