Quadrupedal robots working outdoors are very slow robots prone to tum-\udble down in the presence of perturbations. This paper presents a novel gait-\udadaptation method that enables walking-machine gaits to autonomously adapt\udto environmental perturbations, including the slope of the terrain, by ¯nding\udthe gait parameters that maximize robot's dynamic stability. Experiments with\udthe SILO4 quadruped robot are presented and show how robot stability is more\udrobust when the proposed approach is used for diferent external forces and\udsloping terrains.
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