Research of a static balance method for a quadruped robot walking on a slope

In this paper, we analyze cautions of unstable problems during static walking on a slope, and propose a stability criterion combined Sne and stability margin together. Based on static balance, we propose corresponding solutions to solve the robot falling over and tumbling around the line connecting two support feet problems during gait transition. The gait transition plan is carefully designed to ensure rapid and stable walking on a slope. The quadruped robot thus can walk into any direction by dynamically changing the center of gravity. Through walking experiments by computer simulation, the validity of the proposed method has been verified.