Experiment Studies On Three-dimensional Gait Of Gecko

Gait planning is one of fundamental researches for bio-robot, which has a direct effect on the mechanics characteristics of the locomotive mechanism and result the solution to control the motion of bio-robot, eventually.The thesis discusses the gecko gait by experiments which include setting up experiment facilities, programming test procedure and do experiment in different surface such as floor, wall and ceiling. Fistly,recording the motion of gecko in different surfaces by using a high speed video system. Furthermore, it was acquired that the parameters of gecko gait (such as gait period, stride length, duty factor) and the angle curve of each leg according to the actual motion of them from the recorded datas which was processed and analyzed by computer programme.Finally, it is concluded as the following: the angle variation of legs can be repeated during the motion; In accord with each surface, it is varied that the gecko gait such as the period in which each leg is landed in surface, the sequence in which each leg was whether lift in advance or not during the motion. The motion speed of gecko is changed by adjusting the duty factors of each leg on the same surface. The gecko gait isn't varied at different motion speed on the same surface.