Skip to main content
SpringerLink
Log in

Locomotion behavior and dynamics of geckos freely moving on the ceiling

  • Article
  • Bionic Engineering
  • Published:
Chinese Science Bulletin

Abstract

To understand the mechanical interactions when geckos move on ceiling and to obtain an inspiration on the controlling strategy of gecko-like robot, we measured the ceiling reaction force (CRF) of freely moving geckos on ceiling substrate by a 3-dimensional force measuring array and simultaneously recorded the locomotion behaviors by a high speed camera. CRF and the preload force (F P ) generated by the geckos were obtained and the functions and the differences between forces generated by fore- and hind- feet were discussed. The results showed that the speed of gecko moving on the ceiling was 0.17–0.48 m/s, all of the fore- and hind-legs pulled toward the body center. When geckos attached on the ceiling incipiently, the feet generated a very small incipient F P and this fine F P could bring about enough adhesive normal force and tangential force to make the gecko moving on ceiling safely. The F P of the fore-feet is larger than that of the hind-feet. The lateral CRF of the fore-feet is almost the same as that of the hind-feet’s. The fore-aft CRF generated by the fore-feet directed to the motion direction and drove their locomotion, but the force generated by the hind-feet directed against the motion direction. The normal CRF of fore- and hind-feet accounted for 73.4% and 60.6% of the body weight respectively. Measurements show that the fore-aft CRF is obviously lager than the lateral and normal CRF and plays a major role in promoting the fore-feet, while the hind-feet of the main role are to provide a smooth movement. The results indicate that due to the differences of the locomotion function of each foot between different surfaces, the gecko can freely move on ceiling surfaces, which inspires the structure designing, gait planning and control developing for gecko-like robot.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Zhang X L, Zheng H J, Chen K, et al. Research on robotic bionics. Robot, 2002, 24: 188–192

    Google Scholar 

  2. Chen B B, Wu P D, Gao H. Hierarchical modelling of attachment and detachment mechanisms of gecko toe adhesion. Proc R Soc A, 2008, 464: 1639–1652

    Article  Google Scholar 

  3. Autumn K, Peattie A. Mechanisms of adhesion in Geckos. Soc Integ Comp Biol, 2002, 42: 1081–1090

    Article  Google Scholar 

  4. Arzt E, Gorb S, Spolenak R. From micro to nano contacts in biological attachment devices. Proc Natl Acad Sci USA, 2003, 100: 10603–10606

    Article  Google Scholar 

  5. Autumn K, Liang T A, Flsieh S T, et al. Adhesive force of a single gecko foot-flair. Nature, 2000, 405: 681–685

    Article  Google Scholar 

  6. Huber G, Mantz H, Spolenak R, et al. Evidence for capillarity contributions to gecko adhesion from single spatula nanomechanical measurements. Proc Natl Acad Sci USA, 2005, 102: 16293–16296

    Article  Google Scholar 

  7. Bhushan B, Sayer R A. Gecko Feet: Natural attachment systems for smart adhesion. In: Bhushan B, Tomitori M, Fuchs H, eds. Applied scanning probe methods VII. Heidelberg: Springer Berlin Heidelberg, 2007. 41–76

    Chapter  Google Scholar 

  8. Irschick D J, Austin C C, Petren K, et al. A comparative analysis of clinging ability among pad-bearing lizards. Biol J Linn Soc, 1996, 59: 21–35

    Article  Google Scholar 

  9. Damme R V, Aerts P, Vanhooydonck B. No trade-off between sprinting and climbing in two populations of the lizard podarcis hispanica. Biol J Linn Soc, 1997, 60: 493–503

    Article  Google Scholar 

  10. Irschick D J, Vanhooydonck B, Herrel A, et al. Effects of loading and size on maximum power output and gait characteristics in geckos. J Exp Biol, 2003, 206: 3923–3934

    Article  Google Scholar 

  11. Zaaf A, Damme R V, Herrel A, et al. Spatio-temporal gait characteristics of level and vertical locomotion in a ground-dwelling and a climbing gecko. J Exp Biol, 2001, 204: 1233–1246

    Google Scholar 

  12. Autumn K, Hsieh S T, Dudek D M, et al. Dynamics of geckos running vertically. J Exp Biol, 2006, 209: 260–272

    Article  Google Scholar 

  13. Chen J J, Peattie A M, Autumn K, et al. Differential leg function in a sprawled-posture quadrupedal trotter. J Exp Biol, 2006, 209: 249–259

    Article  Google Scholar 

  14. Li H K, Dai Z D, Shi A J, et al. Angular observation of joints of geckos moving on horizontal and vertical surfaces. Chinese Sci Bull, 2009, 54: 592–598

    Article  Google Scholar 

  15. Zaaf A, Herrel A, Aerts P, et al. Morphology and morphometrics of the appendicular musculature in geckoes with different locomotor habits (lepidosauria). Zoomorphology, 1999, 119: 9–22

    Article  Google Scholar 

  16. Losos J B. The evolution of form and function: Morphology and locomotor performance in West Indian Anolis lizards. Evolution, 1990, 44: 1189–1203

    Article  Google Scholar 

  17. Bauer A M, Russell A P, Powell G L. The evolution of locomotor morphology in Rhoptropus (squamata: gekkonidae): Functional and phylogenetic considerations. Afr J Herpetol, 1996, 45: 8–30

    Google Scholar 

  18. Santos D, Spenko M, Parness A, et al. Directional adhesion for climbing: theoretical and practical considerations. J Adhesion Sci Tech, 2007, 21:1317–1341

    Article  Google Scholar 

  19. Gorb S, Varenberg M, Peressadko A, et al. Biomimetic mushroom-shaped fibrillar adhesive microstructure. J R Soc Interface, 2007, 4: 271–275

    Article  Google Scholar 

  20. Aksak B, Murphy M P, Sitti M. Adhesion of biologically inspired vertical and angled polymer microfiber arrays. Langmuir, 2007, 23: 3322–3332

    Article  Google Scholar 

  21. Qu L T, Dai L M, Stone M, et al. Carbon nanotube arrays with strong shear binding-on and easy normal lifting-off. Science, 2008, 322: 238–242

    Article  Google Scholar 

  22. Dai Z D, Zhang H, Li H K. Biomimetics of gecko locomotion: From biology to engineering. In: Dai J S, Zoppi M and Kong X W, eds, ReMAR2009, Reconfigurable mechanisms and robots, London: IEEE. 456–460

  23. Ji A H, Dai Z D, Yan H B, et al. Study on animal’s locomotive mechanics measurement system. Transducer Microsystem Tech, 2006, 25: 59–61

    Google Scholar 

  24. Zhang Z J, Ji A H, Wang Z Y, et al. 3-Dimensional sensor for measuring gecko s ground reaction force. Chin J Sens Actu, 2007, 20: 1271–1274

    Google Scholar 

  25. Oing G, Chen Z K. Dissection of the Muscular appendicularis of gecko (in Chinese). J YunNan Agricultural Univ, 1995, 10: 12–17

    Google Scholar 

  26. Cai L, Cui X Y, Ai H B. Research of neurone architecture of spinal gray matter and spinal nerve in bufo bufo gargarizans (in Chinese). J Shandong Normal Univ (Natural Science), 2007, 22: 104–106

    Google Scholar 

  27. Liu X Y, Dai Z D, Zeng X L, et al. A quantitative research on gekko gecko’s appendicular muscle. Anat Res, 2005, 27: 292–301

    Google Scholar 

  28. Cartmill M. Climbing. In: Hildebrand M, Bramble D M, Leim K, et al., eds. Functional Vertebrate Morphology. Cambridge: The Belknap Press of Harvard University Press, 1985

    Google Scholar 

  29. Gorb S N, Beutel R G, Gorb E V, et al. Structural design and biomechanics of friction-based releasable attachment devices in insects. Integr Comp Biol, 2002, 42: 1127–1139

    Article  Google Scholar 

  30. Nachtigall W. Biological Mechanisms of Attachment: The comparative Morphology and Bioengineering of Organs for Linkage, Suction, and Adhesion. New York: Springer-Verlag, 1974

    Google Scholar 

  31. Cartmill M. The volar skin of primates: Its frictional characteristics and their functional significance. Am J Phys Anthropol, 1979, 50: 497–510

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    ZhouYi Wang, JinTong Wang, AiHong Ji & ZhenDong Dai

  2. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    ZhouYi Wang & JinTong Wang

Authors
  1. ZhouYi Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. JinTong Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. AiHong Ji
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. ZhenDong Dai
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to ZhenDong Dai.

About this article

Cite this article

Wang, Z., Wang, J., Ji, A. et al. Locomotion behavior and dynamics of geckos freely moving on the ceiling. Chin. Sci. Bull. 55, 3356–3362 (2010). https://doi.org/10.1007/s11434-010-3079-6

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11434-010-3079-6

Keywords

Search

Navigation