Joint simulation of the kinematics of a gecko-like quadrupedal wall-climbing robot based on SIMULINK and ADAMS

Abstract

Wall climbing robots have a wide range of uses in civil, military and aerospace applications, yet there has been little research on the joint kinematic simulation of quadrupedal wall climbing robots. Combining the computational power of MATLAB with the mechanical simulation capabilities of Adams enables the joint kinematic simulation of a quadrupedal wall crawler robot. The quadrupedal wall climbing robot can achieve a sinusoidal smoothly varying diagonal gait.