Title :
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
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;
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
