Query related to High level controller

[rua0ra1]

Hi,
I am working on quadruped robot project past couple of months. My understanding of the quadruped gait generator is, the gait generator should know the current position and orientation of the robot, user defined velocity values to generate the required gaits for the quadruped legs. But, I don't see any robot pose feedback to the champ. Am i missing something here ? or Champ is a open loop control ?