Operating on sloped surfaces

Not too long ago, I ran some outdoor experiments, and while piloting the quad A1 around, realized that it wasn’t going to get very far if it was restricted to just flat ground.

Since the control algorithms are completely ignorant of slopes, the center of gravity of the machine can easily get too close to the support polygon when resting, and similarly fails to stay balanced over the support line during the trot gait.

To get started tackling this, I stuck a configurable ramp in the simulator:

And yes, it fails just as much on the ramp as it did in real life.

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