During the regeneration of the tail in the arboreal New Zealand gecko （Hoplodactylus maculatus） a new set of tail scales, modified into pads bearing setae 5-20 μm long, is also regenerated. Stages of the formation ...During the regeneration of the tail in the arboreal New Zealand gecko （Hoplodactylus maculatus） a new set of tail scales, modified into pads bearing setae 5-20 μm long, is also regenerated. Stages of the formation of these specialized scales from epidermal pegs that invaginate the dermis of the regenerating tail are described on the basis of light and electron microscopic images. Within the pegs a differentiating clear layer interfaces with the spinulae and setae of the Oberh^utchen according to a process similar to that described for the digital pads. A layer of clear cytoplasm surrounds the growing tiny setae and eventually comities around them and their spatular ends, later leaving the new setae free- standing on the epidermal surface. The fresh adhesive pads help the gecko to maintain the prehensile function of its regenerated tail as together with the axial skeleton （made of a cylinder of elastic cartilage） the pads allow the regenerated tail to curl around twigs and small branches just like the original tail. The regeneration of caudal adhesive pads represents an ideal system to study the cellular processes that determine setal formation under normal or experimental manipulation as the progressive phases of the formation of the setae can be sequentially analyzed.展开更多
This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biom...This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model is simulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three other gaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.The result can be used in biomimetic robot design and motion planning.展开更多
基金supported by a New Zealand University Grants Committee Scholarship
文摘During the regeneration of the tail in the arboreal New Zealand gecko （Hoplodactylus maculatus） a new set of tail scales, modified into pads bearing setae 5-20 μm long, is also regenerated. Stages of the formation of these specialized scales from epidermal pegs that invaginate the dermis of the regenerating tail are described on the basis of light and electron microscopic images. Within the pegs a differentiating clear layer interfaces with the spinulae and setae of the Oberh^utchen according to a process similar to that described for the digital pads. A layer of clear cytoplasm surrounds the growing tiny setae and eventually comities around them and their spatular ends, later leaving the new setae free- standing on the epidermal surface. The fresh adhesive pads help the gecko to maintain the prehensile function of its regenerated tail as together with the axial skeleton （made of a cylinder of elastic cartilage） the pads allow the regenerated tail to curl around twigs and small branches just like the original tail. The regeneration of caudal adhesive pads represents an ideal system to study the cellular processes that determine setal formation under normal or experimental manipulation as the progressive phases of the formation of the setae can be sequentially analyzed.
基金supported by the Brain Korea 21 Project and SNU-IAMD.
文摘This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model is simulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three other gaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.The result can be used in biomimetic robot design and motion planning.
