The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot

<div>The effect of the waist spring coefficient. (a) The supporting forces on front and rear feet with different waist spring coefficients. (b) The system energy consumption with different waist spring coefficients.</div>

Applied Bionics and Biomechanics

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Figure 5

Figure 5: The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot 