Analysis on GPL´s dynamic gait for a gecko inspired climbing robot with a passive waist joint

To improve the efficiency of multi legged climbing robot, a dynamic climbing gait is proposed for a gecko inspired mechanism with a pendular waist and linear legs (GPL). Then, a mathematical model is built and the kinetics of the climbing gait is illustrated. Trajectory of the waist, identical to centroid of the GPL model, is also discussed in this paper. The forces at the feet of GPL are calculated, and the comparison between our result and gecko´s experimental data is shown in our work, which reveals high similarity. In the end, the movement of a physical template is simulated by ADAMS, showing excellent stability and performance. The result of our research indicates high efficiency of a bionic robot, which would be developed in our next stage work.