Research of a quadruped robot walking on a slope based on 4-leg supporting period

In this paper, the omni-directional static walking method on a slope is proposed and problems of the stability in gait transition processes and in other non-horizontal environment are analyzed. We solved the sideways motion problems through setting coordinate systems, confirming the reachable region and movement area, calculation of the stability and gait transition method. Simulation platform is established and experiments are executed to verify the feasibility and scientificity of the opinion.