A Study of Climbing Strategy on Unitree Aliengo

This paper designs a novel climbing strategy that can assist in heavy-duty work even when perception is disturbed. Several touchdown times of swing feet is aimed to differentiate the ground and stairs, deciding which gait planning methods to use without the help of vision system The legged robot climb up the four steps 10 cm stairs smoothly and can tentatively measure the lifting height by contact force detection algorithm, which show the effectiveness of the proposed method.