Abstract: Based on the climbing motion of gecko,a quadrupedal gecko wall-climbing robot is introduced.Its mechanical structure,kinematics,feet workspace and obstacle-climbing capability are analyzed and two kinds of wall-climbing gaits are designed.The phenomenon of over-actuation is analyzed and an algorithm for multi-joint coordinated control is proposed to solve this problem.The experiment results show that locomotion of the robot using this control algorithm is coordinated and stable,and both the validity of the analysis results and the effectiveness of the control algorithm are verified.