Quadruped Locomotion and Navigation Under Uncertainty

This study addresses the challenges of quadruped locomotion and navigation in environments complicated by unmodeled payloads and uneven terrains. The presence of unpredictable payload variations and irregular ground surfaces can significantly impact stability, maneuverability, and energy efficiency. To overcome these obstacles, we propose a comprehensive approach that integrates robust control algorithms with adaptive gait planning and real-time sensor feedback. The system dynamically adjusts to variable load conditions and terrain disruptions, ensuring sustained balance and effective navigation. We plan to perform a series of simulations and experimental validations, to demonstrate improved stability, enhanced performance, and reliable operation in challenging environments. These results contribute to advancing the capabilities of quadruped robotic systems in real-world applications where uncertainty is inherent.