Abstract: This paper dealt with the locomotion on two surfaces insected perpendicularly. The transition gait is designed for a quadruped walking machine moving from ground to wall based on the regulating-capability analyses of the vehicle. The planning algorithm is presented by minimizing the regulating times with the consideration of decreasing energy comsumption, which is validated by computer simulation. The analytical method and results obtained in the paper is of importance to the walking mechanism design, gait design and to the evolution of ground-to-wall transition capability of vehicles.

Key words: Body regulation, Gait design, Ground-to wall transition, Walking machine