Locomotion And Reaction Force Of Feet And Toes Of Geckos Freely Moving On Different Inclined Planes

The measurement of gecko's reaction force walking on different inclined planes plays an important role in understanding the mechanics of the animals'locomotion process and inspiring the design of bionics robot.3-dimensional reaction forces of gecko were measured by 3-dimensional force sensors'array and the locomotion behaviors were recorded by a high speed camera. Then thedifferences of the function of front and hind feet on different inclined planes were discussed. The regularities of 3-dimensional reaction force generated by the feet and the toes of geckos walking on seven different inclined planes were contrasted, and the role of feet in the movement was discussed. The law of gecko body movement was expounded from locomotion and gait, which is propitious to have a good understanding of the locomotion behavior.Gecko used a diagonal gait at higher speeds when it walked on lower inclined planes and on these planes, the velocity is mainly determined by stride frequency. Gecko walked using a tripod gait at lower speeds on higher inclined planes, and on these planes, the velocity is mainly determined by stride length. Locomotion of Gecko was broken by front feet and driven by hind feet as gecko walks on lower inclined planes. However, the movement forms was opposite to former when gecko walks on higher inclined planes. Gecko's reaction force vary with angle of inclination; lateral forces increases firstly and reduces afterward with the increase of angle of inclination of moving surface, Their directions changed when geckos walked on lower inclined planes and remained stable on higher inclined planes. The body weight and torque was balanced by normal force.Gecko's teos force was first measured when geckos walked on different incline planes. Teos force would increase as angle of inclinaion of moving surface increased. Shear force is along the toe—only small angle away from the toe for walking on different incline planes, while the adhesion is big enough to balance the body weight and torque. The shear forces generated by first and fifth toes are in the opposite direction, this redundant force increase the reliability and stability of contact.The measurement of the 3-dimensional interactions between feet and toes of a gecko and substrates contributed to understanding the mechanisms of adhesion and the law of locomotion, which greatly inspires the design of gecko-like robot.