Departmental Papers (ESE)


We discuss the gait generation and control architecture of a bioinspired climbing robot that presently climbs a variety of vertical surfaces, including carpet, cork and a growing range of stucco-like surfaces in the quasi-static regime. The initial version of the robot utilizes a collection of gaits (cyclic feed-forward motion patterns) to locomote over these surfaces, with each gait tuned for a specific surface and set of operating conditions. The need for more flexibility in gait specification (e.g., adjusting number of feet on the ground), more intricate shaping of workspace motions (e.g., shaping the details of the foot attachment and detachment trajectories), and the need to encode gait “transitions” (e.g., tripod to pentapod gait structure) has led us to separate this trajectory generation scheme into the functional composition of a phase assigning transformation of the “clock space” (the six dimensional torus) followed by a map from phase into leg joints that decouples the geometric details of a particular gait. This decomposition also supports the introduction of sensory feedback to allow recovery from unexpected event and to adapt to changing surface geometries.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

Proceedings of SPIE






Unmanned Systems Technology VIII, edited by Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage, Proc. of SPIE Vol. 6230, 623018, (2006) · 0277-786X/06/$15 · doi: 10.1117/12.666017

Copyright/Permission Statement

Copyright 2006 Society of Photo Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.


Legged Robots, Climbing Robots, Robot Locomotion, Gait Parameterization, Gait Regulation, Behavioral Control

Bib Tex

@inproceedings{Rizzi_Haynes_Full_Koditschek_2006, place={Orlando (Kissimmee), FL, USA}, title={Gait generation and control in a climbing hexapod robot}, volume={6230}, url={}, booktitle={Unmanned Systems Technology VIII}, publisher={SPIE}, author={Rizzi, A. A. and Haynes, G. C. and Full, R. J. and Koditschek, D. E.}, year={2006}, month={May}, pages={623018–12} }



Date Posted: 17 December 2020