There are two methods to overcome the mentioned problems – dynamic stability and static stability, both of which are found in insects. Dynamic stability is more complex, and is the method that humans and animals use for stability. It involves constant muscle adjustment during walking to maintain a centre of balance and thus stability (Zill 1993). However, as robots do not have muscles or the nerves to detect phenomena such as balance to a level this complex, it is not applicable for robots. The second method is static stability, which is utilized by insects. Although some insects do have a measure of dynamic stability in their gaits, they typically use statically stable gaits (Zill 1993). Static stability occurs when the entity has six legs, and uses these additional legs to maintain stability while some legs are taking a step, resulting in stable movement. The gait that insects use to maintain static stability is very successful, and is known as the tripod gait.