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中文摘要：
研究昆虫运动时其脚掌与接触面间的接触力学规律度其附着机制，可以为多足爬行机器人的设计提供理论依据。研制的微牛级应变式力传感器，用来测试昆虫无障碍运动时与接触面间的3维接触力。对黄斑蝽在地面和垂直壁面两种状态下爬行时与接触面的作用力进行测试，分析了力的作用机理。在垂直壁面状态下，昆虫向上爬行时将身体向上推进的同时，会产生防止身体倾覆的吸附力。
英文摘要：
By measuring the target surface-foot reaction forces generated by insects on various surfaces, the adhesire mechanism and locomotion dynamics can be learned. These data can help engineers improve the performance of the legged robots. To explain the design principle of the diverse leg, a micro force sensor is made to measure three-dimensional contact forces generated by individual legs of the stinkbug Erthesina fullo when moving on the level and vertical surfaces. The adhensive force of Erthesina fullo is measured when walking upright and climbing vertically. The legs of the insect generate the adhesive force to avoid overturning when climbing vertically.
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