Input Stride-based Walking Strategy of a Quadruped Robot for Overcoming Uneven Terrain

This study presents a walking strategy based on stride input for a quadruped walking robot to navigate uneven terrain. Most quadruped walking robots operate by setting a target walking speed, which may make it difficult to overcome rough terrain such as stepping stones. Therefore, we present a walking strategy that takes one step at a time, focusing on the target stride instead of the target speed. We also present the trajectories of the four legs and body, confirming through simulation that a large 350 kg quadruped walking robot can cross the stepping stones.