The present invention relates to a method of a robot (30) responding to a transition (40) between height levels, the method comprising a robot (30) travelling, sensing information of the surroundings of the robot (30) and generating a three dimensional data set corresponding to a heightmap of the surroundings of the robot (30) based on the information, detecting a transition (40) between different height levels (10, 20) in the three dimensional data set, categorizing the transition (40) between the different height levels (10, 20) by means of at least one characteristic, the robot (30) performing a response action, which response action depends on the categorization of the transition (40). The present invention also relates to a corresponding system.