The six-stage algorithm generates gaits that assure stability and safety during climbing and offer substitutions for step-by-step manual control.

• 本研究利用6阶段系统化步态规划流程产生步态，使其能稳定、安全地攀爬阶梯，取代操作者手动逐步控制机器蛇攀爬阶梯。