The thesis discusses the gecko gait by experiments which include setting up experiment facilities , programming test procedure and do experiment in different surface such as floor , wall and ceiling . fistly , recording the motion of gecko in different surfaces by using a high speed video system 本文針對仿壁虎機器人的步態規劃,提出了一種實驗方法,并且利用自行搭建的實驗系統,對大壁虎( gekkogecko )在不同表面(地面、垂直壁面及天花板)的爬行運動過程進行實驗研究。