Locomotion Simulation of Gecko Robot Moving on the Ceiling Based on MATLAB

Geckos have the dry adhesive feet that can provide the Vander Waals force,but it is quite difficult for gecko robot to move on the ceiling.Dynamic model of gecko robot is created with MATLAB/SimMechanic.A elastic damping model of the directional adhesive material on robot's foot is built.The crawling behavior of the robot on the ceiling is simulated with planned gait.The experiment results show that the robot can move we expected and the main perturbation in locomotion is induced by the change of alternation between the foot's stance period and swing period.It provides references for the future experiment of gecko robot moving on the ceiling.