Biomimetics of Gecko locomotion: From biology to engineering

Author

Dai, ZhenDong ; Zhang, Hao ; Li, HongKai

Author_Institution

Inst. of Bio-inspired Struct. & Surface Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2009

fDate

22-24 June 2009

Firstpage

464

Lastpage

468

Abstract

Based on our previous study, the biomimetic fundamentals of the motion and control of the discontinuous-constraint linkage mechanism for the legged gecko-like robot are discussed. The key questions to be discussed here relate to the mechanics of the legged robot: motion coordination under a redundant driving condition, dynamics of the robot under impact contact, foot design with high adhesion, the effects of ground reaction forces on stability and moving efficiency, adhesive foot design and its micro-fabrication technique, and gait planning and control technology. Further development of the legged robot is suggested.

Keywords

biomimetics; gait analysis; legged locomotion; mobile robots; motion control; adhesive foot design; biomimetics; gait planning; gecko locomotion; ground reaction forces; linkage mechanism; motion coordination; robot; Adhesives; Biology; Biomimetics; Couplings; Foot; Legged locomotion; Motion control; Motion planning; Robot kinematics; Stability; control strategy; gait planning; ground reaction forces; linkage mechanism for robot; motion coordination;

fLanguage

English

Publisher

ieee

Conference_Titel

Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference on

Conference_Location

London

Print_ISBN

978-88-89007-37-2

Electronic_ISBN

978-1-876346-58-4

Type

conf

Filename

5173870