Rotation problem //wantedRot

Unity Engine
1

hi all
So i have robot who is walking around round planed using path. it works fine almost, problem is planet is round and robot always is rotated upwards on one axis , so it is no walking straight. i want two of axis to be rotated to path point and one axis to centre of planet.
This is what i got so far.

Quaternion wantedRot=Quaternion.LookRotation(pathpoint-thisT.position);
		
			
			
		
			thisT.rotation=Quaternion.Slerp(thisT.rotation, wantedRot, rotateSpd*Time.deltaTime);
2

Try using the transform matrix. You should then be able to treat your robot like he’s walking on a flat earth and just adjust his heading.

Apply the looking at the centre of earth rotation to the Matrix first.