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Angular observation of joints of geckos moving on horizontal and vertical surfaces

ISSN号：1001-6538
期刊名称：科学通报(英文版)
时间：0
页码：592-598
语言：中文
分类：Q959[生物学—动物学] Q811.2[生物学—生物工程]
作者机构：[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, China, [3]College of Mathematics and Physics, Nanjing University of Posts and Telecommunications, Nanjing 210003, China, [4]School of Life Sciences, Peking University, Beijing 100871, China
相关基金：Supported by the National High Technology Research and Development Program of China （Grant No. 2007AA04Z201） and National Natural Science Foundation of China （Grant Nos. 60535020, 30700068 and 50705043）
相关项目：类壁虎仿生机器人的关键基础研究

关键词：壁虎, 运动协调能力, 垂直表面, 生物电子装置模型, 三维运动观察系统, gecko, motor coordination, 3 dimensional observation, joint rotation

中文摘要：

因为他们的突出的爬和马达协作能力，壁虎为导致一个壁虎机器人的发展的一个古怪仿生的模型提供了基础。当壁虎小跑时，一个三维的运动观察系统被构造测量关节的尖取向(337.1 mm/s ) 并且走(66.7 mm/s ) 在水平表面上，并且小跑(241.5mm/s ) 并且走(30.6mm/s ) 在垂直表面上。在水平表面上动人，关节更快速旋转了更大当热闹时，速度，和前肢的热闹范围将近呆在 59 度，但是当热闹时，从 72 度延长了到 79.2 度。当动人时，前肢的上升角度在垂直表面上面总是是积极的使质量的中心靠近到表面，向前热闹的前肢的范围向前与增加从 33.7 度延长了到 36.7 度速度，当向后转动前肢的范围几乎在 87.5 度仍然是一样时。其他的步法在在水平、垂直的表面上移动的壁虎的后部的手足的秋千角度上有小效果。

英文摘要：

Because of their outstanding climbing and motor coordination ability, geckos have provided the basis for a peculiar bionic model leading to the development of a gecko-robot. A three-dimensional locomotion observation system was constructed to measure angular orientations of joints while geckos trotted （337.1 mm/s） and walked （66.7 mm/s） on horizontal surfaces, and trotted （241.5mm/s） and walked （30.6mm/s） on vertical surfaces. Moving over horizontal surfaces, the joints rotated more quickly the greater the speed, and the swinging scope of forelimbs stayed nearly at 59 degrees when swinging forward, but extended from 72 degrees to 79.2 degrees when swinging backward. The lifting angle of forelimbs was always positive to keep the center of mass close to the surface when moving up vertical surfaces, the scope of the forward swinging forelimbs forward extended from 33.7 degrees to 36.7 degrees with increasing speed, while the scope of backward swinging forelimbs remained almost the same at 87.5 degrees. Alternative gaits had little effect on the swing angle of hindlimbs of the geckos moving on both horizontal and vertical surfaces.

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