Omni-directional Walking of a Quadruped Robot with Optimal Body Postures on a Slope

In this paper, we discuss the optimal body postures of a quadruped robot to perform omni-directional static walking on a slope. The optimal body posture is the posture with the maximum possible moving speed w. r. t. slope and moving direction. The proposed method based on dynamically changing body posture during gait-transitions, is used to maintain high robot motion velocity on slope. The timing of changing body posture is designed by considering the stability during gait-transition. Using the proposed method, the robot can walk into any direction with the fastest moving speed on a slope. Through walking experiments by computer simulation, the validity of the proposed method has been verified.