Gait Parameter Adaptation to Environmental Perturbations in Quadrupedal Robots

Quadrupedal robots working outdoors are very slow robots prone to tumble down in the presence of perturbations. This paper presents a novel gaitadaptation method that enables walking-machine gaits to autonomously adapt to environmental perturbations, including the slope of the terrain, by finding the gait parameters that maximize robot’s dynamic stability. Experiments with the SILO4 quadruped robot are presented and show how robot stability is more robust when the proposed approach is used for different external forces and sloping terrains.