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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/abb/volume-2018/2648502/figures/2648502.fig.007a.svgz" name="2648502.fig.007a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>The configuration of the climbing prototype</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2018/2648502/figures/2648502.fig.007b.svgz" name="2648502.fig.007b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Design of the leg module</td></tr></table>

<div>Prototype design based on the GPL model.</div>

Applied Bionics and Biomechanics

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Figure 7

Figure 7: The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot 