Please note, this would require custom software work on the step controller, as the example code we provide is designed for walking on flat ground and passively handling small obstacles. The estimates above are for the standard configuration of Daisy, but using X8-16s at the bases instead of X8-9s.
It may be worth noting that since the system is modular, custom development is also possible. With an additional degree of freedom on each leg, and with adjusted leg lengths, larger obstacles may be possible. Please reach out if you would like to see how Daisy or Lily could be reconfigured for your purposes!