Quadruped walking robots are expected to be utilized on rugged terrain because of its high terrain adaptability compared with wheeled and crawler robots. To utilize quadruped walking robots on such environments, realization of walking motion with high energy efficiency is one of the most important problem. In this paper, we propose new method which directly optimize energy efficiency during walking motion on sloping surface. To verify the validity of proposed method, we make numerical simulations to calculate energy efficiency during walking on the slope.
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