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. gecko, three-dimensional reaction force, movement behavior, vertical surface, sensors-array Citation:
Studying the locomotive behavior of animals has the potential to inspire the design of the mechanism and gait patterns of robots ("bio-inspired robots"). The kinematics characteristics of a spider (Ornithoctonus huwena), including movement of the legs, movement of the center of mass (COM) and joint-rotation angle, were obtained from the observation of locomotion behaviors recorded by a three-dimensional locomotion observation system. Our results showed that one set of the stance phase consists of four legs, which were leg-1 and leg-3 on one side and leg-2 and leg-4 on the other side. Additionally, two sets of the stance phase comprised eight legs alternately supporting and driving the motion of the spider's body. The spider primarily increased its movement velocity by increasing stride frequency. In comparison to other insects, the spider, O. huwena, has superior movement stability. The velocity and height of COM periodically fluctuated during movement, reaching a maximum during alternation of leg phase, and falling to a minimum in the steady stance phase. The small change in deflection angle of the hind-leg was effective in driving locomotion, whereas each joint-rotation angle of the fore-leg changed irregularly during locomotion. This research will help in the design of bio-inspired robots, including the selection of gait planning and its control. Locomotive behavior and physiological characteristics of animals depend heavily on their environmental circumstances, which create morphological and physiological evolutionary pressures on animals for efficiency, flexibility and adaptability [1]. Animals have evolved different locomotive behaviors to adapt to their specific living environment. Thus, animals are far superior, in terms of stability, agility, robustness, environmental adaptability and efficiency, to robots [2]. Research on the locomotive behaviors of animals can reveal characteristics of animal motion that could inspire engineers to develop biomimetic robots with advanced performance [3][4][5][6][7]. The locomotive behavior of two-legged, four-legged and six-legged animals has been studied widely [8][9][10][11][12][13][14][15]. The application of spider poison and the mechanical properties of spider webs had been studied widely [16][17][18][19]. In research on spider kinematics, Land found that stepping movements during turns made by a tarantula were mediated by nerves of the lateral eyes [20]. Bromhall uncovered the close relationship between spider heart-rates and locomotion [21]. Shultz compared the kinematics of terrestrial and semiaquatic spiders [22]. Wang measured the reaction force of each spider leg on a level surface, and discussed the function of different legs compared with those of four-legged and six-legged animals [23]. The movement control system of a spider-like robot was studied by Ohnish et al. [24]. Gasparetto et al. established a motion model of a spider and performed a simulation analysis [25].The spider O. huwena is a burrowing eight-legged animal that generally inhabits a complex...
To understand the mechanical interactions when geckos move on ceiling and to obtain an inspiration on the controlling strategy of gecko-like robot, we measured the ceiling reaction force (CRF) of freely moving geckos on ceiling substrate by a 3-dimensional force measuring array and simultaneously recorded the locomotion behaviors by a high speed camera. CRF and the preload force (F P ) generated by the geckos were obtained and the functions and the differences between forces generated by fore-and hind-feet were discussed. The results showed that the speed of gecko moving on the ceiling was 0.17-0.48 m/s, all of the fore-and hind-legs pulled toward the body center. When geckos attached on the ceiling incipiently, the feet generated a very small incipient F P and this fine F P could bring about enough adhesive normal force and tangential force to make the gecko moving on ceiling safely .The F P of the fore-feet is larger than that of the hind-feet. The lateral CRF of the fore-feet is almost the same as that of the hind-feet's. The fore-aft CRF generated by the fore-feet directed to the motion direction and drove their locomotion, but the force generated by the hind-feet directed against the motion direction. The normal CRF of fore-and hind-feet accounted for 73.4% and 60.6% of the body weight respectively. Measurements show that the fore-aft CRF is obviously lager than the lateral and normal CRF and plays a major role in promoting the fore-feet, while the hind-feet of the main role are to provide a smooth movement.The results indicate that due to the differences of the locomotion function of each foot between different surfaces, the gecko can freely move on ceiling surfaces, which inspires the structure designing, gait planning and control developing for gecko-like robot. 3-dimensional locomotion reaction force, dynamics, ceiling, 3-dimensional force measuring array, geckoCitation: Wang Z Y, Wang J T, Ji A H, et al. Locomotion behavior and dynamics of geckos freely moving on the ceiling. Robotics is one of the major application areas of modern bionics [1]. Robots, which are used in un-structured circumstance, especially the robots with TDOF (Three Dimensional-terrains Obstacle Free-such as running on floors, climbing on walls and moving on ceilings) locomotion ability are the most challenged high technology and become a mark of the level of technology and the comprehensive national strength. To learn from and obtain the inspiration from nature has become a valuable means in developing new robots. Scientists would like to discover how animals have done in TDOF moving and what mechanism and key technique could be transferred from nature to technology to *Corresponding author (email: zddai@nuaa.edu.cn) develop the TDOF robots. During the past years, Autumn, Bharat, Bergmann have carried out a lot of researches on the structure and micro-structure of gecko feet [2-4], mechanisms of adhesion [3,5] and adhesive strength [4,6-8]. Damme et al. focused on the locomotion kinematics of gecko moving on the horizontal and verti...
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