One-leg motion control of gecko robot based on three-dimensional force feedback

The mechanical structure of gecko inspired robot is analyzed; a one-leg kinematics model of the robot is built and the kinematic inverse solution is derived using algebraic method. The three-dimensional force sensor is statically calibrated, the decoupling matrix of the sensor is calculated and the force-signal amplification circuit is designed. A spring model of the adhesive material on the robot foot is built. Using incremental joint rotating method, a 3-D force feedback algorithm for the gecko robot is designed and is verified on Quanser hardware-in-the-loop (H.I.L.) system. Experimental study indicates that the gecko robot can control the force between its foot and wall stably, the 3-D force feedback algorithm is reasonable, which places an experimental groundwork for wall climbing movement of the gecko robot with force perception ability.