System hypothesis and future work

We implemented a global path planner algorithm able to take into account constraints on the slope a quadruped robot can face outdoor. The presence slope constraints effectively influences the generated path in a way that allows for longer paths but limited slope or vice versa. We observed these results both in simulation and in real-world experiments with the Spot robot from Boston Dynamics.

In future work, we plan to conduct more extensive testing with the Spot robot on steeper hills to thoroughly assess the algorithm’s limitations. Additionally, we will investigate the impact of various solutions on battery consumption to determine potential differences in energy efficiency. This research will ultimately contribute to the development of a system that emulates human versatility in making decisions regarding slope navigation. The robot may opt to follow a longer (and potentially safer) path or a shorter (but more energy-intensive) path, taking into account factors such as task requirements, time constraints, payload, battery charge, and other relevant parameters.