抄録
This paper describes the formulation of the Normalized Energy Stability Margin which is used to evaluate the stability of the walking robot on the slop. We add the reverse-trapezoid shaped leg movement and the forward and backward movement of the center of gravity to the crawl gait and the intermittent crawl gait of the quadruped robot to increase the stability on the slopes. We show the simulation results of the slop walk of the quadruped walking robot.
