Stair climbing is one of the key issues for walking robots involved in urban search and rescue missions. This article presents a parametrized stair climbing strategy for a six legged walking robot. By the parameters we mean the height and depth of the steps provided on-line. These data connected with the information about the robot dimensions allows automatic stair negotiation. The strategy is a closed-loop control based on the position of the robot on stairs. Additionally, to allow the correction of the horizontal position and orientation of the robot on the stairs the information about the distance from the side-walls and about orientation of the robot w.r.t. the stair-steps should be provided. The strategy was preliminary tested on the robot simulator. The validation on the real robot is in progress.
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