Study of quadruped walking robot climbing and walking down slope

Abstract

Presents an experimental study of climbing and walking down a slope by the JTUWM-II quadruped robot. A scheme by which the walking robot detects the slope and measures the gradient of the slope with tactile sensors is proposed. An algorithm for the body to turn parallel with the sloping surface is developed. In the transition area gait adjustment is made for stable walking. Also the maximum gradient of the slope for the robot and the optimum body height are given.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>