Research into the gait planning of a walking robot is the underlying development of quadruped robots. Despite the efforts in stable gait planning, many walking robots that have been developed thus far do not have enough ability to adapt to uneven territory. In this paper, we acquired the motion data of the trotting lizards using the motion capture equipment and analyzed the gait systematically. In addition, we applied it to the kinematic model of the lizard and acquired the trajectory of each joint through an inverse kinematic solution. Moreover, we proposed the joint space-based gait of the lizard model by approximating the acquired joint trajectory to a sinusoidal function. We verified through the simulation that the proposed gait faithfully follows actual gait of lizards.

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