We did some coding to make legged robot Bittle walk over a gap that is 8.5cm wide. The distance between its front and back shoulders is only 10.5cm. 

The skill is available for download at GitHub.  See here for more details, to reproduce this challenging move in coordinating the limbs of this nimble quadruped robot.

Note: due to the limited memory size on NyBoard(the default board on Bittle)., the skill is only valid on ESP32 quadruped robot controller BiBoard with a larger memory size.