• locomotion
• motion planning
• quadrupedal robots
• slippery terrains

My work of thesis consists in developing a trajectory planning algorithm of a static walk for quadrupedal robots on slippery terrains. Thesis'aim is to overcome limits of the force based approach, going to develop a new one. This new novel approach is a kind of kinematics one, which prevents the robot from slippage, going to act indirectly on contact forces, without knowing them, without knowing the coefficient friction of the terrain and without using a control force module with complex and computationally expensive optimization procedures. The resulting planning algorithm is therefore simple and fast.