Quadruped Robot Standing Stability on Inclined Plane

Nowadays, quadruped robotic technology has been developed to be used for exploration in dangerous and humanly inaccessible areas which is superior to wheeled and centipede robots due to its capable of traversing and exploring in complex and difficult terrain similar to humans and animals. There are many problems with aspects of the difficult terrain such as rough, slippery, inclined, etc. which lead to the problem of stability, using the accelerometer and gyroscope to feedback the current angle and change to adjust on these terrains. Quadruped robot can stand stability on slope plane 2 DOF by roll and pitch should not excess 15°.