Quadrupedal Locomotion
Adaptive terrain traversal simulation
Terrain
Grass
Gait Mode
Trot
Stability
96%
Speed
1.2 m/s
Incline
0°
IMU
Pitch
0.0°
Roll
0.0°
Adaptive Gait Control
Terrain Classification
Stereo depth cameras and contact-force sensors classify terrain type in real-time. The system identifies grass, gravel, mud, concrete, stairs, and curbs — adjusting gait parameters before the robot steps onto new surfaces. LiDAR point cloud analysis detects elevation changes and step heights up to 3m ahead.
Gait Generation
A Central Pattern Generator (CPG) produces five gait modes: trot for flat terrain, crawl for unstable surfaces, high-step for mud, stair-climb for steps, and step-over for curbs. Each mode adjusts stance width, step height, leg timing, and body posture. Transitions between gaits are blended over 2-3 steps for smooth switching.
IMU Feedback Loop
A 9-axis IMU (accelerometer, gyroscope, magnetometer) at 1kHz feeds a real-time balance controller. Pitch and roll corrections are applied within 5ms to maintain stability on uneven ground. The system maintains a stability margin above 72% even on stairs — if stability drops below threshold, the robot slows or stops to rebalance.
| Spec | Value |
|---|---|
| Leg configuration | 4-leg (mammalian), 3 DOF per leg |
| Max step height | 18cm (curbs, stairs) |
| Max incline | 35 degrees (stairs), 45 degrees (ramps) |
| Gait modes | 5 (trot, crawl, high-step, stair-climb, step-over) |
| Terrain types | Grass, gravel, mud, concrete, stairs, curbs |
| IMU rate | 1kHz (9-axis) |
| Balance response | < 5ms correction latency |
| Speed range | 0.2 m/s (stairs) — 1.4 m/s (flat grass) |
| Stability margin | > 72% on all supported terrain |
This is a simulated demo. In production, locomotion data streams from deployed CleanWalker robots via onboard IMU sensors, joint encoders, and ROS2 control nodes.
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