Below is a robot called Big Dog.

Sensors Sensors for Motion Internal Sensing Planning
From the visual input, Big Dog determines where it needs to go. From its other motion related sensors, it determines wich legs to move and how to
maintain balance while walking. It can navigate complicated and varied terrain, indicating that the computer's planning methods are robust and flexible

The robot actually moves via hydrolics. Hip, knee and ankle joints offer multiple degrees of freedom each. The feet incorporate springs that both reduce
impact and recover energy on each step. The mechanical design mimics animals like pack mules, a logical choice since Big Dog's purpose is to carry
supplies for the military over terrain mules have traversed for millenia.

Overall, Big Dog monitors itself and its surroundings in detail, can autonomously plan courses of action in a variety of circumstances, and executes
those plans effectively and efficienty.