Study on Forces Simulation of Gecko Robot Moving on the Ceiling

摘要

Gecko can freely move on the ceiling surfaces because of the directional adhesive structures. Dynamic model of gecko robot is created with Matlab/SimMechanics, A elastic damping model of the adhesive material on robot's foot is built. The crawling behavior of the robot on the ceiling is simulated with planned gait. The robot can move on the ceiling in simulation. The experiment results show that locomotion of the robot is similar with the dynamics of geckos moving on the ceiling. It is proved that the elastic damping model built is reasonable. The most important perturbation in motion is induced by the change of alternation between the foot's stance period and swing period. It provides references for the future experiment of gecko robot moving on the ceiling.