Research Article
The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot
Table 1
Structural parameters of the climbing robot.
| | Parameters | La (mm) | d1 (mm) | L1min (mm) | L1max (mm) |
| | Value | 230 | 168 | 103 | 168 | | m1 (g) | Lb (mm) | d2 (mm) | L2min (mm) | L2max (mm) | | 243 | 420 | 113 | 85 | 150 | | m2 (g) | NG | η (%) | Ra (Ω) | KM (Nm/A) | | 223 | 2 | 77 | 4 | 10.2 |
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