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This paper presents a method for generating free gaits for quadruped robots capable of performing statically stable, omnidirectional locomotion on irregular terrain containing forbidden areas. The rule-based deliberative algorithm can generate flexible sequences of leg transferences while maintaining constant vehicle speed. The foothold planning method is compatible with the use of these flexible leg sequences, and is designed to maintain a minimum absolute stability margin despite the terrain height uncertainty. The integration of exteroceptive terrain profile data has been considered to improve adaptability. Experimental results are presented to show the gait's efficiency in adapting to an irregular terrain containing forbidden areas.