Gait planning based on kinematics for a quadruped gecko model with redundancy

Donghoon Son, Dongsu Jeon, Woo Chul Nam, Doyoung Chang, Tae Won Seo, Jongwon Kim

Research output: Contribution to journalArticlepeer-review

27 Scopus citations


Recent research on mobile robots has focused on locomotion in various environments. In this paper, a gait-generation algorithm for a mobile robot that can travel from the ground to a wall and climb vertical surfaces is proposed. The algorithm was inspired by a gecko lizard. Our gait planning was based on inverse kinematics using the Jacobian of the whole body, where the redundancy was solved by defining an object function for the gecko posture to avoid collisions with the surface. The optimal scalar factor for these two objects was obtained by defining a superior object function to minimize the angular acceleration of joints. The algorithm was verified through simulation of the gecko model travelling on given task paths and avoiding abnormal joint movements and collisions.

Original languageEnglish (US)
Pages (from-to)648-656
Number of pages9
JournalRobotics and Autonomous Systems
Issue number5
StatePublished - May 31 2010
Externally publishedYes


  • Gait planning
  • Kinematics
  • Quadruped model
  • Redundancy
  • Transition of direction

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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