Configuration and trajectory optimization for a Gecko Inspired climbing robot with a Pendular waist

Inspired by gecko's movement characteristics, we proposed a gecko inspired climbing robot, which is based on the GPL (Gecko inspired mechanism with a Pendular waist and Linear legs) model. In this paper, further research is made to analysis its gait and continuity. We optimist the driving angle to maintain the cyclical movement. Furthermore, the issues related configuration and motion planning are discussed. We find that the waist joint elastic coefficient has significant effect on the driving force. The optimization trajectory is given based on energy consumption. In the end, we do the prototype experiment to verify the theoretical analysis. The results also reveal the rationality of the big gecko bionic configuration on the other hand.