Morphology and reaction force of toes of geckos freely moving on ceilings and walls  

作　　者：WANG ZhouYi1,2,GU WenHua1,2,WU Qiang1,2,JI AiHong1 & DAI ZhenDong1 1 Institute of Bio-inspired Structure and Surface Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China 2 College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China 

出　　处：《Science China(Technological Sciences)》2010年第6期1688-1693,共6页中国科学（技术科学英文版）

基　　金：supported by the National High Technology Research and Development Program of China ("863" Program)(Grant No. 2007AA04Z201);National Natural Science Foundation of China (Grant Nos. 60535020,60910007,30770285,30700068)

摘　　要：The 3-dimensional interactions between toes of a gecko and substrates (ceilings or walls) were measured when it moves on ceilings or walls by using a 3-dimensional force measuring array,and the correspondent morphology of the gecko toes was recorded by a high speed camera.The study aims to understand the relationship between adhesive and shear forces generated by the toes of the gecko and the locomotion behavior when it walks on walls and ceilings.Results showed that shear force is along the toe-only 12.6° and 3.1° away from the toe for wall-climbing and ceiling-crawling,respectively while the adhesion is big enough to balance the body weight and moment.The shear forces generated by the first and the fifth toes are in opposite directions;this redundant force increases the reliability of adhesion and stability of locomotion.The support angles of toes are equal approximately for ceiling-crawling and wall-climbing.The study greatly inspires the design of a gecko-like robot.The 3-dimensional interactions between toes of a gecko and substrates (ceilings or walls) were measured when it moves on ceilings or walls by using a 3-dimensional force measuring array,and the correspondent morphology of the gecko toes was recorded by a high speed camera.The study aims to understand the relationship between adhesive and shear forces generated by the toes of the gecko and the locomotion behavior when it walks on walls and ceilings.Results showed that shear force is along the toe-only 12.6° and 3.1° away from the toe for wall-climbing and ceiling-crawling,respectively while the adhesion is big enough to balance the body weight and moment.The shear forces generated by the first and the fifth toes are in opposite directions;this redundant force increases the reliability of adhesion and stability of locomotion.The support angles of toes are equal approximately for ceiling-crawling and wall-climbing.The study greatly inspires the design of a gecko-like robot.

关 键 词：reaction FORCE of toe MORPHOMETRICS CEILING redundant FORCE gecko-like robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]