Adhesion performance test and trajectory optimization for gecko-inspired footpad under simulated micro-gravity environment

Wang, Zhongyuan; Lu, Xiaobo; Liu, Qi; Song, Yi; Dai, Zhendong

doi:10.1360/n972016-01329

Cited by 8 publications

(2 citation statements)

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“…According to bionic research [ 22 , 23 ], the driving angle β of reptile gecko usually keeps a certain value. From ( 11 ), it can be shown that β has an obvious influence on the start and termination point space of the waist.…”

Section: Trajectory Planning Of Gplmentioning

confidence: 99%

The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot

Wang

et al. 2018

Applied Bionics and Biomechanics

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Inspired by the dynamic gait adopted by gecko, we had put forward GPL (Gecko-inspired mechanism with a Pendular waist and Linear legs) model with one passive waist and four active linear legs. To further develop dynamic gait and reduce energy consumption of climbing robot based on the GPL model, the gait design and trajectory planning are addressed in this paper. According to kinematics and dynamics of GPL, the trot gait and continuity analysis are executed. The effects of structural parameters on the supporting forces are analyzed. Moreover, the trajectory of the waist is optimized based on system energy consumption. Finally, a bioinspired robot is developed and the prototype experiment results show that the larger body length ratio, a certain elasticity of the waist joint, and the optimized trajectory contribute to a decrease in the supporting forces and reduction in system energy consumption, especially negative forces on supporting feet. Further, the results in our experiments partly explain the reasonability of quadruped reptile's kinesiology during dynamic gait.

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Section: Trajectory Planning Of Gplmentioning

confidence: 99%

The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot

Wang

et al. 2018

Applied Bionics and Biomechanics

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“…Our team has been working on bioinspired robots for many years [ 25 , 26 , 27 , 28 ]. Arthicha et al designed a tailless gecko-inspired robot with flexible limbs and adhesive footpads that effectively mimics the natural climbing motion of geckos [ 26 ].…”

Section: Introductionmentioning

confidence: 99%

Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations

Pei,

Liu,

Wei

et al. 2023

Biomimetics

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This paper presents a study on bioinspired rigid-flexible coupling adaptive compliant motion control of a robot gecko with hybrid actuation for space stations. The biomimetic robot gecko is made of a rigid trunk, four motor-driven active legs with dual-degree-of-freedom shoulder joints, and four pneumatic flexible pleated active attachment–detachment feet. The adaptive impedance model consists of four input parameters: the inertia coefficient, stiffness coefficient, damping coefficient, and segmented expected plantar force. The robot gecko is equipped with four force sensors mounted on its four feet, from which the normal force of each foot can be sensed in real-time. Based on the sensor signal, the variable stiffness characteristics of the feet in different states are analyzed. Furthermore, an adaptive active compliance control strategy with whole-body rigidity–flexibility-force feedback coupling is proposed for the robot gecko. Four sets of experiments are presented, including open-loop motion control, static anti-interference experiment, segmented variable stiffness experiment, and adaptative compliant motion control, both in a microgravity environment. The experiment results indicated that the presented control strategy worked well and the robot gecko demonstrates the capability of stable attachment and compliant detachment, thereby normal impact and microgravity instability are avoided. It achieves position tracking and force tracking while exhibiting strong robustness for external disturbances.

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Initial Design and Implementation of a Space Quadruped Crawling Robot Prototype

Xie

Chen

et al. 2021

Adv. Astronaut. Sci. Technol.

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Adhesion performance test and trajectory optimization for gecko-inspired footpad under simulated micro-gravity environment

Cited by 8 publications

References 0 publications

The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot

The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot

Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations

Initial Design and Implementation of a Space Quadruped Crawling Robot Prototype

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