Behavior and dynamics of gecko’s locomotion:The effects of moving directions on a vertical surface  

作　　者：WANG ZhouYi WANG JinTong JI AiHong ZHANG YueYun DAI ZhenDong 

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]Guangxi Botanical Garden of Medicinal Plants, Nanning 530023, China

出　　处：《Chinese Science Bulletin》2011年第6期573-583,共11页

基　　金：supported by the Funding for Outstanding Doctoral Dissertation in Nanjing University of Aeronautics and Astronautics (BCXJ10-10);the National Hi-Tech Research & Development Program of China (2007AA04Z201);the National Natural Science Foundation of China (60910007, 50705043, 50975140 and 30700068)

摘　　要：The study of the movement behavior of geckos on a vertical surface, including the measurement and recording of the reaction forces as they move in different directions, plays an important role in understanding the mechanics of the animals' locomotion. This study provides inspiration for the design of a control system for a bionics robot. The three-dimensional reaction forces of vertical surface-climbing geckos (Gekko gecko) were measured using a three-dimensional force-sensors-array. The behavior of gecko as it moved on a vertical surface was recorded with a high speed camera at 215 fps and the function of each foot of a gecko are discussed in this paper. The results showed that the gecko increased its velocity of movement mainly by increasing the stride frequency in the upward, downward and leftward direction and that the speed had no significant relationship to the attachment and detachment times. The feet above the center-of-mass play a key role in supporting the body, driving locomotion and balancing overturning etc. The movement behavior and foot function of geckos change correspondingly for different conditions, which results in safe and effective free vertical locomotion. This research will be helpful in designing gecko-like robots including the selection of gait planning and its control.The study of the movement behavior of geckos on a vertical surface, including the measurement and recording of the reaction forces as they move in different directions, plays an important role in understanding the mechanics of the animals＇ locomotion. This study provides inspiration for the design of a control system for a bionics robot. The three-dimensional reaction forces of vertical surface-climbing geckos （Gekko gecko） were measured using a three-dimensional force-sensors-array. The behavior of gecko as it moved on a vertical surface was recorded with a high speed camera at 215 fps and the function of each foot of a gecko are discussed in this paper. The results showed that the gecko increased its velocity of movement mainly by increasing the stride frequency in the upward, downward and leftward direction and that the speed had no significant relationship to the attachment and detachment times. The feet above the center-of-mass play a key role in supporting the body, driving locomotion and balancing overturning etc. The movement behavior and foot function of geckos change correspondingly for different conditions, which re- sults in safe and effective free vertical locomotion. This research will be helpful in designing gecko-like robots including the se- lection of gait planning and its control.

关 键 词：运动力学 垂直运动 大壁虎 移动方向 表面 行为 机器人控制系统 设计灵感 

分 类 号：O311[理学—一般力学与力学基础] TM351[理学—力学]