Realizing positive gait stability of a quadruped robot walking on sloping surface

A fault-tolerant gait planning of a quadruped robot is presented. The considered robot has static walking and suffers from a locked joint failure. Especially, the quadruped robot is equipped with the moving appendage onto the body. By controlling the moving appendage, the robot can adjust the effective position of the center of gravity. Incorporating the adjustment of the moving appendage along the leg and body sequence, the fault-tolerant gait can have positive stability margin. Based on gait study, we address theoretical analyses on the proposed fault-tolerant gait planning for the quadruped robot to walk over a slope. We also conduct 3D simulation studies on a synthetic quadruped robot to show the applicability of the proposed scheme.