Gait Planning of the Gecko-Like Robot Transition to Wall

Abstract

Through summed up several crawling robot's gait, based on gecko-like robot's capability of stable crawling on the ground, a new mode of its transition to wall is designed by theoretic analysis, degree-of-freedom (DOF) calculation, and analysis of the body posture. By ADAMS simulation, the results show that this mode of gait planning for transition is theoretically correct and practically feasible.