Abstract: Aiming at the problem that the legs of the quadruped crawling robot were impacted by the ground when the robot worked on the raised terrain of slope, a climbing gait of the quadruped robot was designed. First, the three-dimensional flexible leg structure model was established. Then, aiming at the raised terrain of slope, impact resistance and stability of trot gait under flat pavement was optimized. Then, by the forward and inverse kinematics analysis of the single leg of the robot, the mapping relationship between the foot trajectory and the joint angle of the quadruped robot with the slope trot gait was obtained. Finally, the motion simulation of leg structure was carried out on the raised terrain of slope. The experimental results show that comparing with the flat trot gait, the quadruped crawling robot with slope trot gait has more stable center of mass displacement, and the peak contact force of the tibial foot is reduced by 8.05%. The rationality of the designed climbing gait is verified.

Key words: slope raised environment; quadruped crawling robot; trot gait; kinematics analysis; motion simulation