Research On Characteristics Of Gecko's Gait And Posture

Gait is the correlation of the limbs in time and space, and posture is the shape of the body. Each action of the walking contains the gait realization and posture adjustment. So, it is very important to make a quantitative analysis on gait and posture for the biomimetic robot design.This paper mainly focuses on Gecko's lumbar spine and four limbs. Firstly, it makes a further research on Gecko's gait and posture characteristics such as lateral bending when it walks in the linear passage (land, wall, ceiling) and the curving passage. Secondly, it defines the locomotion direction and turning angle for the Gecko turning process by the means of curve fitting. Finally, it describes the experiment facilities designed especially for the transition gait (from the land to the vertical wall) analysis, and makes a primary research on transition process and its gait, posture features. It is concluded that Gecko body locomotion always includes two directions: lateral and longitudinal; and the body lateral bending period is the same as the gait period; the lateral bending magnitude is maximal in the middle of the body, minimal in the two ends of the body; each part of the body reaches the lateral bending peak at the different time; during the process of turning, the lateral bending magnitude is inverse proportional with the gait period and so on.