Climbing Stairs for a Quadruple Robot

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I am working on a robot dog and I want to check if the robot can climb stairs or not. This robot have two modes

1. High level mode -> For walking
2. Low level mode -> For position/Torque/Velocity control

Upto my understanding I think the robot for this particular stair climbing problem should be in position control mode/low level mode(May be I am wrong). Anyone who can suggest/guide a way to solve this problem. I have looked into free_gait, champ, and towr, but don't know how to proceed at the moment completely lost so any help will highly be appreciated.