Research Article
The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot
Figure 2
The trot gait inspired by gecko’s climbing for the GPL model. Here, red dotted lines denote that the corresponding mechanisms are executing the active movement. (a)–(c) show the gait movement principle during half one gait. (a) The initial state of trot gait. L1 and L2 are adherent; L3 and L4 are swing. (b) L1 contracts and L2 extends; L3 and L4 are swing; and the waist swings as a pendulum and moves forward half stride S/2. (c) The role transformation of corresponding adherent and swinging diagonal feet. (d)–(e) The two processes are similar with (a) and (b). And the waist moves forward the other half stride S/2. (f) The role transformation status. (g) The initial state for the next gait.