Stable gait planning for a gecko-inspired robot to climb on vertical surface

摘要

In this paper, a mechanical structure of gecko-inspired robot was designed. Through research on gecko movement behaviour, a biomimetic gait in which the forefoot posture and landing position parameters could be adjusted was planned. Combined with the requirement of climbing, a group of gecko-inspired triangle gaits based on development of MATLAB platform for gait planning program were formatted. The data was applied in the experiment of gecko robot to climb the wall. The results showed that the feet can be adhered stably without passive detachment which may caused by incoordination movement. Moreover, the robot climbed on the vertical surface with coordination and stability, and it verified the rationality of the biomimetic structure designing and the gait planning.