Matlab Based Gait Planning And Simulating Of A Robot Inspired By Gecko Locomotion

As an important branch of biomimetic robots, the gecko inspired robot is a research focus of advanced robot. The gecko has good kinematics dexterity and adaptability for the ground, the gecko inspired robot inherits advantage of gecko in locomotion and has a wide development prospect.At first, this paper introduces the gecko inspired robot in bionics ,the movement mechanism design status and progress of the study, then analyzed a new type of structural characteristics of the gecko inspired robot by adding the ball joints, and conducted a robot leg joint kinematic analysis, derivation of the forward kinematics and inverse kinematics equations. On this basis, based on the observation and analysis in depth of gecko crawling gait, a new type of gecko inspired robot's kinematics are analyzed and bound for its non-continuous movement of variable structure characteristics, meanwhile, in order to compensate for the existing gait planning method that exist in poor motor coordination, lack of application of narrow, etc, an adjustable pre-placement of foot posture and position parameters of the bionic multi-planning method is designed,finally the use of MATLAB software design and development of the gecko inspired robot gait planning process,and use this program planned for a group of diagonal gait and a set of tripod gait,in the ADAMS simulation environment for the diagonal gait of the simulation experiment, The experiment results show that locomotion of the robot is coordinated and stable, and both the correctness and the feasibility of bionic gait planning are verified. Meanwhile, in order to fill the existing simulation environment in the absence of the definition of adhesion, for the characteristics of the adhesion by the adhesion array of the robot feet produced during the adhesion,designed for use spring-damper model to simulate adhesion,and in Simulink /SimMechanies established within the robot model, a diagonal gait simulation experiment carried out, both the correctness and the feasibility of spring-damper model are verified, lay the foundation for the further establishment of a more perfect imitation gecko robot simulation environment.