Gait Design and Path Planning for a Gecko-like Robot

摘要

The gait planning of gecko-like robot is discussed. Based on observing and analyzing the way of large gecko crawling, three kinds of gait, 1324, pseudo-1324, as well as diagonal are summed up, and the differences among them are described briefly. The diagonal gait is selected as the robot’s crawling way finally. Based on this, the linear displacement and in-situ turning of gecko-like robot path planning are designed. Aiming at the single leg path planning of robot, according to the result of gait planning, the movement process of each walking leg is divided into two kinds of phase, i.e. support phase and swing phase. Through the analysis of the path constraints, general path expression of the support phase and swing phase are derived by using polynomial approach which can provide the corresponding basis for calculating the amount of joint control. Through the simulation analysis of path planning on gecko-like robot, the relationship between displacement and time of the support phase and swing phase can be obtained, which shows that the polynomial method performs well in launching and landing, thus providing the theoretical basis for the control of stable crawling of gecko-like robot.