Gait Plan And Locomotion Simulation Of Gecko Robot Moving On The Ceiling

Gecko has good kinematics dexterity and can move flexibly on the surfaces of different normaldirections such as ground, steep wall and ceiling. According to observation of geckos’ delicatestructure, movement principles and behavior, gecko robot has the advantage of gecko inlocomotion.Gecko robot is an important branch and a research focus of biomimetic robots and it has awide application and a development prospect.Firstly, in this paper we introduce both the foreign and domestic status of research onwall-climbing robot in detail. Inspired by the bone structure of gecko we design a new geckorobot.The structure design of gecko robot is described and the kinematic analysis including theforward and reverse kinematics of a robot leg is analyzed. If gecko robot would move freely on thewall or ceiling, the requirement of gait is higher and the four legs of robot must coordinate themovement.Based on SimMechanics the model of gecko robot’s gait plan is built.According tostudying gecko robot’s crawl gait,17Parameters of gait are set. By using the model of gait paln weplan a group of diagonal gait and triangle gait which prove the method convenient and accurate.Themethod provides a new way for robot’s gait plan. Dynamic model of gecko robot is created withSimMechanics and the crawl behavior of the robot on the ceiling is simulated with planned gait.Geckos have the dry adhesive feet that can provide the Vander Waals force, the elastic damping modelof the directional adhesive material on robot’s foot is built.The experiment results show that the robotcan move in the way we expected. It provides references for the future experiment of gecko robotmoving on the ceiling. The stability of gecko robot moving on the ceiling is analyzed. In this paper wediscuss the safety conditions of ceiling crawl and coefficient of Anti-turning over is obtained.According to the analysis of force while crawl it is found that the main perturbation in locomotion isinduced by the change of alternation between the foot’s stance period and swing period. At last themovement of the gecko robot is controlled by Quanser on HIL-simulation and the experiments ofgecko robot moving on the ground and wall are finished.