Fig. 5. (a) The robot prototype used in the experiment with a view of the omnidirectional camera; (b) The experimental setup showing the robot while selecting the most rewarding sequence (solid path) among the two acquired during the learning process; (c)-(e) The sequence of actions performed by the robot during the testing phase. Fig. 6. Some snapshots of the quadruped architecture during outdoor exploration. 26 IEEE Instrumentation & Measurement Magazine December 2022