Locomotor Kinematics And Dynamics Of Salamander(Pachytriton Labiatus)

Wet adhesion widely existing in biology, salamander as a kind of typical wet adhesion animal, is an ideal animal for researching wet adhesion mechanism. By studying movement behaviors of salamander and 3D reaction forces of feet with different slope surface, this can provide theoretical basis and technical support to design robot based on wet adhesion mechanism. This paper use animal reaction force measurement system to collect force information salamander on 0 °, 30 °, 60 ° and 75 ° surface, at the same time by using high speed camera to record movement behavior of salamanders. Pads' microstructure is observed by means of scanning electron microscopy to further research wet adhesion mecahnism. We design the data processing interface based on Matlab GUI. This interface can realize synchronous display video and force data, and improve abviously the efficiency of data processing.Salamander transfers diagonal gait into triangle gait with slope increasing. Triangle gait makes salamander move on steep slope more stability and safety. Support time increase with slope increasing, and front limbs' ones increased faster than hind limb. Forelimbs use prone posture to reduce the height between the shoulder joint and the surface; Hindlimbs far away from body as much as possible to reduce hip height.Negative driving force at initial stage prevents lean forward caused by moving too fast. Driving force increase gradually with the increase of slope, and magnitude of forelimb is greater than hindlimbs'. Therefore, forelimbs gradually become the main provider of driving force. Lateral force like gecko foots' adduction force, this is beneficial to increase the shear force and reduce height the mass center to decrease the pitching moment. Because, salamanders can't climb on 90° surface, for peeling force produced by pitching moment is beyond the adhesion force. Pad microstructure is composed of cylinders and grooves, this structure may be more conducive to maintain and increase the shear force at the humid environment.