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It is assumed that nonholonomic constraints and\ndrift are present which make the motion planning nontrivial while the stratified\nnature requires additional attention to path planning. An algorithm to\ndrift neutralization derived from stratified framework to six-legged robot is\nproposed. The algorithm yields generally an approximation. The main motivation\nis to move the robot along a reference path that assists resolving obstacle\navoidance problem. Configuration switching is supported by the use of supervisory\ncontrol theory. 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