中文摘要：

用动物全空间运动行为-反力测试系统测试记录了大壁虎（gekko gecko）在垂直的玻璃、有机玻璃、铝和不锈钢表面的运动行为和运动反力.分析了壁虎在垂直的不同材料表面的运动附着能力与材料表面特性之间的关系.大壁虎在玻璃、有机玻璃、铝表面上采用对角步态向上爬行,运动与附着能力依次降低,在不锈钢表面不能爬行与附着.在玻璃表面的爬行速度是铝表面爬行速度的两倍.壁虎主要通过提高步频来提高速度.在运动与附着能力较弱的表面,壁虎对壁面的运动反力较小,通过降低爬行速度、提高占空比、增加腿的附着时间来保证运动的稳定与安全,并通过轴向力克服身体重力向上爬行,通过侧向力和法向力使身体稳定地附着在壁面上.壁虎在垂直表面的运动与附着能力随着接触面材料表面能的增加而提高.

英文摘要：

By using an animal locomotion behavior and 3D reaction force measurement system,gek- ko gecko＇s locomotion behavior and ground reaction forces on vertical glass,acrylic and aluminium subslrate were acquired,respectively. Then the relationships among adhesive and kinematic perform- ance of gecko and substrates＇ surface properties were analyzed. The results show that geckos employ trot gall when climbing upward on vertical glass, acrylic and aluminium substrates but hardly adhere and climb on stainless steel. Among these substrate locomotion and adhesion ability of gecko decrease one by one and gecko decrease the ground reaction forces either. On glass substrate motion velocity is more than doubled on aluminium substrate. Animal increases its velocity greatly by increasing stride frequency. But on substrate of weakly adhesion geckos try to decrease motion speed,ampify the duty factor and extend adhering time to keep stability and salty. Animal＇s fore--aft force can counterweight its bodyweight and push body upward,the lateral and normal forces make the body stably adhere on the vertical substrate. It is confirmed that the performace of gecko climbing and adhering vertically va ries with surface eneruv of substrates.