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{\Large {Figure Captions}} \\ \\ \\
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\begin{enumerate}

\item The Ambler
\item Martian surface
\item Modules in the integrated walking system
\item Graphical user interface
\item Conservative support polygon
\item Reflectance (left) and range images
\item Perception system modules
\item Preprocessed range image
\item Elevation map
\item Circulating gait
\item Stack reachability constraint
\item Constraints on geometrically feasible footfalls
\item Dead-reckoned position error

{\small The points represent the difference between the dead-reckoned and
ground truth body positions in the plane of travel.
With each advance, 
the error increases by about two percent of the distance traveled.}
\item Task tree for Ambler walk planning
\item Timings of Ambler modules during concurrent walking cycle
\item Task tree with monitors and exception handlers
\item Ambler traversing indoor obstacle course

{\small Ambler on sandy terrain with meter-tall boulders (under legs and
body), ditches (the center leg on the far stack is standing in one), and
ramp (lower right).}
\item Top view of figure-eight circuit

{\small Boulders are drawn grey.  Units are meters.}
\item Ambler walking 527 m in field
\end{enumerate}

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