Angular observation of joints of geckos moving on horizontal and vertical surfaces  

作　　者：LI HongKai DAI ZhenDong SHI AiJu ZHANG Hao SUN JiuRong 

机构地区：[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 [3]College of Mathematics and Physics, Nanjing University of Posts and Telecommunications, Nanjing 210003, China [4]School of Life Sciences, Peking University, Beijing 100871, China

出　　处：《Chinese Science Bulletin》2009年第4期592-598,共7页

基　　金：Supported by the National High Technology Research and Development Program of China (Grant No. 2007AA04Z201);National Natural Science Foundation of China (Grant Nos. 60535020, 30700068 and 50705043)

摘　　要：Because of their outstanding climbing and motor coordination ability, geckos have provided the basis for a peculiar bionic model leading to the development of a geckorobot. A three-dimensional locomotion observation system was constructed to measure angular orientations of joints while geckos trotted (337.1 mm/s) and walked (66.7 mm/s) on horizontal surfaces, and trotted (241.5mm/s) and walked (30.6mm/s) on vertical surfaces. Moving over horizontal surfaces, the joints rotated more quickly the greater the speed, and the swinging scope of forelimbs stayed nearly at 59 degrees when swinging forward, but extended from 72 degrees to 79.2 degrees when swinging backward. The lifting angle of forelimbs was always positive to keep the center of mass close to the surface when moving up vertical surfaces, the scope of the forward swinging forelimbs forward extended from 33.7 degrees to 36.7 degrees with increasing speed, while the scope of backward swinging forelimbs remained almost the same at 87.5 degrees. Alternative gaits had little effect on the swing angle of hindlimbs of the geckos moving on both horizontal and vertical surfaces.Because of their outstanding climbing and motor coordination ability, geckos have provided the basis for a peculiar bionic model leading to the development of a gecko-robot. A three-dimensional locomotion observation system was constructed to measure angular orientations of joints while geckos trotted （337.1 mm/s） and walked （66.7 mm/s） on horizontal surfaces, and trotted （241.5mm/s） and walked （30.6mm/s） on vertical surfaces. Moving over horizontal surfaces, the joints rotated more quickly the greater the speed, and the swinging scope of forelimbs stayed nearly at 59 degrees when swinging forward, but extended from 72 degrees to 79.2 degrees when swinging backward. The lifting angle of forelimbs was always positive to keep the center of mass close to the surface when moving up vertical surfaces, the scope of the forward swinging forelimbs forward extended from 33.7 degrees to 36.7 degrees with increasing speed, while the scope of backward swinging forelimbs remained almost the same at 87.5 degrees. Alternative gaits had little effect on the swing angle of hindlimbs of the geckos moving on both horizontal and vertical surfaces.

关 键 词：壁虎 运动协调能力 垂直表面 生物电子装置模型 三维运动观察系统 

分 类 号：Q959[生物学—动物学] Q811.2