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Dynamic quadrupedal locomotion over rough terrains reveals remarkableprogress over the last few decades. Small-scale quadruped robots are adequatelyflexible and adaptable to traverse uneven terrains along sagittal direction,such as slopes and stairs. To accomplish autonomous locomotion navigation incomplex environments, spinning is a fundamental yet indispensable functionalityfor legged robots. However, spinning behaviors of quadruped robots on uneventerrain often exhibit position drifts. Motivated by this problem, this studypresents an algorithmic method to enable accurate spinning motions over uneventerrain and constrain the spinning radius of the Center of Mass (CoM) to bebounded within a small range to minimize the drift risks. A modified sphericalfoot kinematics representation is proposed to improve the foot kinematic modeland rolling dynamics of the quadruped during locomotion. A CoM planner isproposed to generate stable spinning motion based on projected stabilitymargins. Accurate motion tracking is accomplished with Linear QuadraticRegulator (LQR) to bound the position drift during the spinning movement.Experiments are conducted on a small-scale quadruped robot and theeffectiveness of the proposed method is verified on versatile terrainsincluding flat ground, stairs and slopes.

Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation