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在多足机器人地面行走步态规划理论的基础上，就多足机器人爬壁运动的两个重要方面（壁面步态规划和地－壁过渡运动规划）进行了较为系统深入的探讨，并取得一些重要的研究进展。
Based on the multi-foot robot walking gait planning theory, this paper makes a systematic and in-depth discussion on two important aspects of multi-foot robot climbing wall movement (wall gait planning and ground-wall transition movement planning) Important research progress.