Omnidirectional Static Walking of a Quadruped Robot with COG-Correspondent Optimal Body Postures on a Slope

In this paper, we discuss COG-correspondent Optimal Body Postures (COBP) of a quadruped robot corresponded with optimal height of the center of gravity (COG) while performing ommidirectional walking on a slope. The COBP is the posture where the moving velocity is maximized corresponding to the height of COG, with respect to the slope and moving direction.The proposed method based on dynamically changing height of COG and body posture during gait-transitions, is used to maintain high robot motion velocity and stability on slope. Through computer simulation, the validity of the proposed method has been demonstrated. The stability has also been confirmed in computer simulation in gait-transition by means of static stability margin.