Practical Techniques Research on Climbing the Steep Slope of Quadruped Robots

In this paper we propose a control framework based on intermittent crawl gait for quadruped robot climbing a steep ramp about 60 degrees. We first consider the structure of the robot to meet the requirements of the workspace on the slope. Secondly we discuss an attitude adjustment algorithm to maintain the projection point of center of mass (COM) in the support plane. Thirdly, the Normalized Energy Stability Margin (NESM) is utilized and improved to find the most stable body posture on the slope. Furthermore, we focus on the analysis of the effects of different gait sequences of crawling gait to find the most suitable one for the locomotion on steep slopes. In simulation, this controller allows the robot to perform significantly more dynamic behaviors while maintaining stability on a slope about 60 degrees.