Kinematics of gecko climbing: the lateral undulation pattern

Wang, Wei; Ji, Aihong; Chen, Guangming; Ravi, Sridhar; Shen, Huan; Gorb, Stanislav N.; Dai, Zhendong

doi:10.1016/j.zool.2020.125768

Cited by 10 publications

(5 citation statements)

References 28 publications

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“…This experimental system determined the 3D coordinates of the marked points in the whole spatial area. 39 Then, the absolute coordinates of these points at any time were obtained by using the direct linear transformation method (HeDrik Lab, University of North Carolina), and the motion trajectories of all marked points were simulated accordingly. 41 , 42 …”

Section: Experimental Validation and Discussionmentioning

confidence: 99%

A Gecko-Inspired Robot with a Flexible Spine Driven by Shape Memory Alloy Springs

Qiu

Zhu

et al. 2023

Soft Robotics

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The majority of sprawling-posture quadrupedal vertebrates, such as geckos and lizards, adopt a cyclical lateral swing pattern of their trunk that is coordinated with limb movements to provide extraordinary flexibility and mobility. Inspired by the gecko's locomotory gait and posture, a gecko-like robot with a flexible spine driven by shape memory alloy (SMA) springs was proposed in this work. The static parameters of the SMA spring were experimentally measured, and the flexible spine driven by SMA springs can be deflected bidirectionally. A kinematic model of the spine mechanism was established, and the mathematical relationship between the thermodynamic behavior of the SMA springs and spinal deflection was systematically analyzed. When a gecko trots with a lateral swing pattern of its trunk, the body and the spine show a standing wave shape and a single-peak C-type curve, respectively. The lateral spine deflection and trotting gait were combined in a collaborative model of a flexible spine and limbs to describe in detail the specific relationships between leg joint variables and spine deflection angle. Planar motion tests of a prototype robot were also conducted by using four high-speed cameras to record the trajectory of each point of the body, which verified the proposed model. From the acquired results, it was demonstrated that, compared with a rigid body, a robot with a flexible spine has a longer stride length, higher speed, and a greatly reduced turning radius.

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Section: Experimental Validation and Discussionmentioning

confidence: 99%

A Gecko-Inspired Robot with a Flexible Spine Driven by Shape Memory Alloy Springs

Qiu

Zhu

et al. 2023

Soft Robotics

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“…Many species of gecko are specialized to traverse vertical and inverted terrains (Autumn et al, 2006;Wang et al, 2015Wang et al, , 2020. While A. vagrans abandoned the diagonal couplet gait when walking across vertical surfaces, Gekko gecko and Hemidactylus garnotii have been recorded using a diagonal couplet gait regardless of direction or incline (Autumn et al, 2006;Wang et al, 2010;Zaaf et al, 2001); however, the grounddwelling Eublepharis macularius, was recorded switching to a single-step walk when locomoting vertically (Zaaf et al, 2001).…”

Section: Discussionmentioning

confidence: 99%

Vertical locomotion in the arboreal salamander Aneides vagrans

Aretz

Deban

2021

Journal of Zoology

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Salamanders are often used as a model of early tetrapod locomotion, due to their generalized tetrapod body plan. We imaged five individuals of wandering salamander, Aneides vagrans, during horizontal and vertical locomotion and compared kinematic and gait adjustments made to compensate for each condition. We used ImageJ to calculate duty factor, stride length, stride frequency, contralateral foot spread, heading of climbing, and forward velocity. Like other terrestrial salamanders, A. vagrans use a diagonal couplet, lateral sequence walk on horizontal surfaces. When walking vertically, however, they use a single-foot gait, taking smaller steps and extending the duty factor compared with level walking. Salamanders adjusted their limbs to have a wider contralateral foot spread between fore-and hindfeet when walking downward as compared to walking upward or horizontally. These gait adjustments may minimize the risk of slipping or falling by increasing the number of contact points during the stride cycle, and by bringing their center of mass closer to the surface. We found that salamanders moved at a significantly faster velocity when traveling horizontally compared to vertically. Furthermore, we found no significant difference between upward and downward velocity, despite greater stride lengths in upward locomotion; this was explained by a higher stride frequency in downward locomotion. We estimate travel time up or down an oldgrowth redwood tree to be on the scale of hours, a significant time investment that may encourage alternatives when available. These results suggest that, in an ecological context, while salamanders are capable of traveling straight down a redwood tree, they may simply tend to jump.

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“…Each leg can be decomposed of swing thigh and shank. During walking, the shanks of the leg swing in synchronization with motions of the flexible spine [ 20 ]. For adapting to the soft desert surface, they use large contact pads and multiple toes [ 21 ].…”

Section: Biomimetic Structure Designmentioning

confidence: 99%

Development of a Lizard-Inspired Robot for Mars Surface Exploration

Chen

Qiao²,

Zhou³

et al. 2023

Biomimetics

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Exploring Mars is beneficial to increasing our knowledge, understanding the possibility of ancient microbial life there, and discovering new resources beyond the Earth to prepare for future human missions to Mars. To assist ambitious uncrewed missions to Mars, specific types of planetary rovers have been developed for performing tasks on Mars’ surface. Due to the fact that the surface is composed of granular soils and rocks of various sizes, contemporary rovers can have difficulties in moving on soft soils and climbing over rocks. To overcome such difficulties, this research develops a quadruped creeping robot inspired by the locomotion characteristics of the desert lizard. This biomimetic robot features a flexible spine, which allows swinging movements during locomotion. The leg structure utilizes a four-linkage mechanism, which ensures a steady lifting motion. The foot consists of an active ankle and a round pad with four flexible toes that are effective in grasping soils and rocks. To determine robot motions, kinematic models relating to foot, leg, and spine are established. Moreover, the coordinated motions between the trunk spine and leg are numerically verified. In addition, the mobility on granular soils and rocky surface are experimentally demonstrated, which can imply that this biomimetic robot is suitable for Mars surface terrains.

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Kinematics of gecko climbing: the lateral undulation pattern

Cited by 10 publications

References 28 publications

A Gecko-Inspired Robot with a Flexible Spine Driven by Shape Memory Alloy Springs

A Gecko-Inspired Robot with a Flexible Spine Driven by Shape Memory Alloy Springs

Vertical locomotion in the arboreal salamander Aneides vagrans

Development of a Lizard-Inspired Robot for Mars Surface Exploration

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