Omni-directional Walking of a Quadruped Robot on a Slope

Abstract

In this study, we discuss omni-directional walking of a quadruped robot to walk on a slope. A method for successive gait-transition on a slope with specified body posture is introduced. Using this method, a trade-off between the moving speed and the body posture has been verified. Simulations and experiments showed that the proposed method for stable slope walking of a quadruped robot is valid.