Biomimetics of Gecko locomotion: From biology to engineering

摘要

Based on our previous study, the biomimetic fundamentals of the motion and control of the discontinuous-constraint linkage mechanism for the legged gecko-like robot are discussed. The key questions to be discussed here relate to the mechanics of the legged robot: motion coordination under a redundant driving condition, dynamics of the robot under impact contact, foot design with high adhesion, the effects of ground reaction forces on stability and moving efficiency, adhesive foot design and its micro-fabrication technique, and gait planning and control technology. Further development of the legged robot is suggested.