A gecko-inspired robot with CPG-based neural control for locomotion and body height adaptation.

Today's gecko-inspired robots have shown the ability of omnidirectional climbing on slopes with a low centre of mass. However, such an ability cannot efficiently cope with bumpy terrains or terrains with obstacles. In this study, we developed a gecko-inspired robot (Nyxbot) with an adaptable body height to overcome this limitation. Based on an analysis of the skeletal system and kinematics of real geckos, the adhesive mechanism and leg structure design of the robot were designed to endow it with adhesion and adjustable body height capabilities. Neural control with exteroceptive sensory feedback is utilised to realise body height adaptability while climbing on a slope. The locomotion performance and body adaptability of the robot were tested by conducting slope climbing and obstacle crossing experiments. The gecko robot can climb a 30° slope with spontaneous obstacle crossing (maximum obstacle height of 38% of the body height) and can climb even steeper slopes (up to 60°) without an obstacle or bump. Using 3D force measuring platforms for ground reaction force analysis of geckos and the robot, we show that the motions of the developed robot driven by neural control and the motions of geckos are dynamically comparable. To this end, this study provides a basis for developing climbing robots with adaptive bump/obstacle crossing on slopes towards more agile and versatile gecko-like locomotion.