Energy management is a fundamental challenge for legged robots in outdoor environments. Endurance directly constrains mission success, while efficient resource use reduces ecological impact. This paper investigates how terrain slope and heading orientation influence the energetic cost of quadruped locomotion. We introduce a simple energy model that relies solely on standard onboard sensors, avoids specialized instrumentation, and remains applicable in previously unexplored environments. The model is identified from field runs on a commercial quadruped and expressed as a compact function of slope angle and heading. Field validation on natural terrain shows near-linear trends of force-equivalent cost with slope angle, consistently higher lateral costs, and additive behavior across trajectory segments, supporting path-level energy prediction for planning-oriented evaluation.

翻译：能量管理是足式机器人在户外环境中的核心挑战。续航能力直接制约任务成功率，而高效的资源利用可降低生态影响。本文研究地形坡度与航向方位如何影响四足运动的能量消耗。我们提出一种仅依赖标准车载传感器、无需专用测量设备且适用于未探索环境的简易能量模型。该模型通过商用四足机器人的实地运行数据标定，可表示为坡度角与航向的紧凑函数。在自然地形上的实地验证表明：等效力消耗与坡度角呈近线性关系，侧向运动成本始终高于正向运动，且轨迹段之间的能量消耗具有可加性，这为面向路径规划的能耗评估提供了支持。