Gait planning and simulating of geckomimicking robot transition from ground to wall
LI Heyan1, GUAN Yang2
(1.National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China; 2.School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081, China)
 

Abstract: Aiming at the limited space movement ability of the traditional geckomimicking robot and the feasibility problem of space motion gait methods, based on the bionics principle, the structure of a fourlegged geckomimicking robot equipped with waist joint and threedegreeoffreedom in each leg was designed. After the forward kinematics and inverse kinematics analysis of the geckomimicking robot’s structure, the function between each joint angle and the parameters in the space coordinates of the body was established. Under the working condition that the angle between the ground and the wall was 90 degrees, a symmetric gait of groundtowall transition method was presented according to its structure which was symmetrical with respect to the longitudinal plane. The controllability of the method was evaluated on the Matlab. The joint angle and angular velocity curve during the transition from ground to wall was gotten by the function between each joint angle and the parameters and programming, and the kinematics simulation experiment was carried out in the Inventor environment. The results indicate that each joint angle, angular velocity is within the allowable range and the derivative of the angle function is continuous, which verify the rationality of the robot structure and the feasibility of gait planning.
Key words: geckomimicking robot; transition from ground to wall; gait planning