Abstract
With a view to expanding serviceability in different applications, the slope climbing ability of a quadruped robot is important. In this paper, a gait scheme i.e. walking algorithm for slope climbing is proposed. It differs from the previous studies in terms of the posture of the robot while climbing. The presented scheme is designed such a way that the body of the robot maintains horizontal posture with positive static stability which can be used for carrying a load and disabled while climbing the slope. For this proposed scheme, different parameters of gait are shown. The algorithm is tested with a multibody simulation and based on the results of transformation of the inertial frame about the world frame; it is proven to be steady.
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