Geckos Distributing Adhesion to Toes in Upside-down Running Offers Bioinspiration to Robots  

作　　者：Yi Song Xiaobo Lu Jun Zhou Zhouyi Wang Zehua Zhang Zhendong Dai 

机构地区：[1]College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China [2]College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China [3]Base of Gecko Breeding,Guangyuan Industry Co.,Ltd,Yunnan Tin Group,Gejiu 661000,China

出　　处：《Journal of Bionic Engineering》2020年第3期570-579,共10页仿生工程学报（英文版）

基　　金：This work was sponsored by grants from the National Natural Science Foundation of China(Nos.51435008 and 31601870);an Educational Innovation Program(No.KYLX 160327)。

摘　　要：Discoveries in geckos locomotion have advanced the bio-inspired robotics.However,the gecko-inspired robots still lag behind animals in attachments and maneuvers due to our failure to understand and implement gecko bionics thoroughly.Here,we studied the toe deployments that facilitate the upside-down motion of geckos by focusing on the directions and contact area of toes to offer inspirations for the design and control of feet of legged robots that must operate on inverted surfaces.Instead of clustering toes,geckos align toes in varying directions.They distribute adhesion to toes by controlling the magnitude of contact area,with one square millimeter setae generating〜153.8 mN shear force and〜39.5 mN attractive force on ceilings.Front feet deploy toes in a〜190°span that centers on〜16°from the motion direction.Toes distribute uniformly and contribute similarly.Whereas,hind feet deploy toes in a〜220°span centering around^90°relative to the fore-aft direction.The last two toes point toward the rear and contribute most in hind feet while the first two toes adhere barely.Such deployments involving distributed control among toes not only provide insight into biological adhesion but will also deliver useful information to the next generation of climbing robotics.

关 键 词：gecko-inspiration ceiling-walking hierarchical feet deployments of toes distributed control 

分 类 号：Q81[生物学—生物工程]