Skip to main content

Divisional and hierarchical innervations of G. gecko’s toes to motion and reception

Chinese Science Bulletin volume 54, pages 2880–2887 (2009)Cite this article

Abstract

As a member of robot families, climbing robots have become one of the research hot-spots in the robotic field recently and Gekko gecko (G. gecko) has been broadly seen as an ideal model for climbing robot development. But for gecko-mimic robots, one of the key problems is how to design the robot’s foot. In this paper, (1) high-speed camera recording and electrophysiological method are used to observe motion patterns of G. gecko’s foot when it climbs on different oriented surfaces; (2) nerve innervations of gecko’s toes to motion and reception are studied. It is found that the five toes of the G. gecko can be divided into two motion and reception divisions, and also its motion and reception are modulated and controlled hierarchically. The results provide important information and exclusive ideas for the foot design and control algorithm of gecko-mimic robots.

This is a preview of subscription content, access via your institution.

Access options

Buy single article

Instant access to the full article PDF.

USD 39.95

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

References

  1. Unver O, Uneri A, Aydemir A, et al. Geckobot: a gecko inspired climbing robot using elastomer adhesives. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006 May 15-19, Orlando, Florida, USA. IEEE, 2006, 2329–2335

    Chapter  Google Scholar 

  2. Santos D, Heyneman B, Kim S, et al. Gecko-inspired climbing behaviors on vertical and overhanging surfaces. In: Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008 May 19–23, Pasadena, CA, USA. IEEE, 2008, 1125–1131

    Chapter  Google Scholar 

  3. Dai Z D. Biomimetic fundaments on motion and control of discontinuous constraint linkage mechanism for gecko-like robot (in Chinese). Chinese Sci Bull, 2008, 53(6): 618–622

    Google Scholar 

  4. Li H K, Dai Z D, Sun J R. The inspiration for the motion control of robot from central pattern generator of animal’s locomotion instruction (in Chinese). Robot, 2008, 37(3): 279–288

    Google Scholar 

  5. Dai Z D, Sun J R. Research progress in gecko locomotion and biomimetic gecko-robots. Prog Nat Sci, 2007, 11: 1–5

    Google Scholar 

  6. Dai Z D, Zhang H, Zhang M, et al. Motion and control of discontinuous constraint linkage mechanism for robots: conception and model (in Chinese). Chinese Sci Bull, 2007, 52: 236–239

    Article  Google Scholar 

  7. Ji A H, Dai Z D, Yan H B, et al. Study on animal’s locomotive mechanics measurement system (in Chinese). Transducer and Microsystem Technologies, 2006, 25: 59–61

    Google Scholar 

  8. Autumn K, Liang Y A, Hsieh S T, et al. Adhesive force of a single gecko foot-hair. Nature, 2000, 405: 681–685

    Article  Google Scholar 

  9. Autumn K, Sitti M, Liang Y A, et al. Evidence for van der Waals adhesion in gecko setae. PNAS, 2002, 99: 12252–12256

    Article  Google Scholar 

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

    Article  Google Scholar 

  11. Zaaf A, Damme V R. Limb proportions in climbing and grounddwelling geckos (Lepidpsauria, Gekkonidae): a phylogenetically informed analysis. Zoomorphology, 2001, 121: 45–53

    Article  Google Scholar 

  12. Zaaf A, Damme Van R, 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 

  13. Autumn K, Hsieh S T, Dudek D M, et al. Dynamics of geckos running vertically. American Zoologist, 1998, 38: 84A

    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. Ding G, Chen Z K. Dissection of the muscular appendicularis of gecko (in Chinese). J Yunnan Agr Univ, 1995, 10: 12–17

    Google Scholar 

  16. Liu X Y, Dai Z D, Zeng X I, et al. A quantitative research on Gekko gecko’s appendicular muscle (in Chinese). Anatomy Research, 2005, 27: 292–294, 301

    Google Scholar 

  17. Guo C, Dai Z D, Ji A H, et al. Study on the regulation and control mechanism of the gecko’s toes (in Chinese). Chinese J Biomed Eng, 2006, 25: 110–113

    Google Scholar 

  18. Yang A F, Cheng H. Comparative Anatomy of Vertebrates (in Chinese). Beijing: Peking University Press, 1999

    Google Scholar 

  19. Zou J H, Liu S Y. Human Anatomy (in Chinese). Beijing: Science Press, 2005

    Google Scholar 

  20. Han J S. Principles of Neuroscience (in Chinese). 2nd ed. Beijing: Peking University Medical Press, 1999

    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

    Ce Guo, Lei Cai, HeRui Xie, ZhouYi Wang & ZhenDong Dai

  2. College of Life Sciences, Peking University, Beijing, 100871, China

    JiuRong Sun

Authors
  1. Ce Guo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Lei Cai
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. HeRui Xie
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. ZhouYi Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. ZhenDong Dai
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. JiuRong Sun
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Ce Guo or JiuRong Sun.

Additional information

Supported by the National Natural Science Foundation of China (Grant Nos. 30400086, 30770285, 30700068) and Key Project Program of National Natural Science Foundation of China (Grant No. 60535020)

About this article

Cite this article

Guo, C., Cai, L., Xie, H. et al. Divisional and hierarchical innervations of G. gecko’s toes to motion and reception. Chin. Sci. Bull. 54, 2880–2887 (2009). https://doi.org/10.1007/s11434-009-0188-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11434-009-0188-1

Keywords

  • Gekko gecko
  • nerve innervations
  • motion pattern
  • reception
  • robot foot