Inspired by the dynamic gait adopted by gecko, we had put forward GPL (Gecko-inspired mechanism with a Pendular waist and\nLinear legs) model with one passive waist and four active linear legs. To further develop dynamic gait and reduce energy\nconsumption of climbing robot based on the GPL model, the gait design and trajectory planning are addressed in this paper.\nAccording to kinematics and dynamics of GPL, the trot gait and continuity analysis are executed. The effects of structural\nparameters on the supporting forces are analyzed. Moreover, the trajectory of the waist is optimized based on system energy\nconsumption. Finally, a bioinspired robot is developed and the prototype experiment results show that the larger body length\nratio, a certain elasticity of the waist joint, and the optimized trajectory contribute to a decrease in the supporting forces and\nreduction in system energy consumption, especially negative forces on supporting feet. Further, the results in our experiments\npartly explain the reasonability of quadruped reptile�s kinesiology during dynamic gait.
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