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

Figure 1

The GPL and its dynamic model derived from gecko. The red dotted line indicates the current adherent mechanism. The black dots on the foot mean the corresponding diagonal legs are attached with the climbing surface, while the gray dots mean the corresponding diagonal legs are swinging. Here, and are the horizontal and vertical distances between the diagonal stance feet, respectively. and denote the length of linear legs and the position of , which can be controlled. Let , and be mass, the position of the center, and the inertia moment tensor matrix of in coordinate , respectively. , , , and denote the leg’s fixed point on , the distance from to , the angle between leg and the vertical line, and the angle between corresponding leg and line , respectively. and are constant values. denotes the distance from to the center of .