中文摘要：

分析了仿壁虎机器人机构，建立机器人单腿的运动学模型，并通过代数法求逆解。静态标定三维力传感器并计算分析了传感器解耦矩阵，设计了力信号放大和滤波电路。建立足端黏附材料的弹簧模型，采用增量式关节运动方式，设计了足端三维力反馈控制算法。在Quanser的半实物仿真平台上验证了三维力反馈控制算法。实验表明仿壁虎机器人对足端三维力控制性能良好，三维力反馈控制算法可行，为具有力感知的仿壁虎机器人实现爬壁运动奠定了实验基础。

英文摘要：

The mechanical structure of gecko inspired robot is analyzed; a one-leg kinematics model of the robot is built and the kinematic inverse solution is derived using algebraic method. The three-dimensional force sensor is stat- ically calibrated, the decoupling matrix of the sensor is calculated and the force-signal amplification circuit is designed. A spring model of the adhesive material on the robot foot is built. Using incremental joint rotating method, a 3-D force feedback algorithm for the gecko robot is designed and is verified on Quanser hardware-in-the-loop （ H. 1. L. ） system. Experimental study indicates that the gecko robot can control the force between its foot and wall stably, the 3-D force feedback algorithm is reasonable, which places an experimental groundwork for wall climbing move-ment of the gecko robot with force perception ability.