报告时间：2014年12月24日，13：30
　　报告人：石爱菊 副教授
　　报告人单位：理学院
　　报告地点：仙林校区教2-501室
　　报告题目：Study on the motion coordination of Gecko
　　报告摘要： Motion coordination is one of the important technologies that affect the stability and efficiency of a robot. Animals preserve the advantages in locomotion after long time’s evolution, which offers good prototypes for the motion control of robot. In this talk, the locomotion of the quadruped animal, gecko, is observed when trotting on the level. The trajectories of feet relative to the hips are analyzed. Specifically, we use regression model to fit the inter-limbs coordination of diagonal feet on stance stage, and select different smooth function to model the inner-limbs coordination on swing stage. We find that on stance phase, the feet have the same speed relative to the hips, and feet accomplish the change of moving direction and speed during transition process between stance and swing phase. These results are simulated in a robot mode and used in laboratory to plan the foot trajectory of a quadruped sprawling robot.