Gait Planning and Simulation of Gecko Inspired Robot Based on ADAMS
RUAN Peng1,2, YU Zhiwei1, ZHANG Hao1, ZHANG Xiaofeng1,2, DAI Zhendong1
1. Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; 2. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016
Abstract：A gecko inspired robot's mechanical structure and kinematics principle are analyzed.Through studying the gecko's behavior,a kind of gecko inspired wall-crawling diagonal gait is designed.The climbing behavior of the gecko inspired robot along the vertical wall is simulated using ADAMS.The displacement of the robot's center of mass,the torque of joints,the contact force between the feet and wall,and other parameters are analyzed.The experimental study indicates that the gait planning and structure design are reasonable,and the selected electric motors comply with the design requirements.
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