动物黏附脚掌分布式协同附着机制及其仿生实现

与环境之间可靠的相互作用力是动物和机器人运动实现的基础。研究动物附着器官的结构功能关系是诠释环境对动物进化影响的重要途径，其精髓也将启发仿生机器人关键功能部件的设计和控制。壁虎等全空间运动动物利用多个离散黏附脚趾实现复杂环境自适应附着，为工程实践提供了优良示范。但各脚趾的协同附着原理尚不明确、结构-功能进化关系还不完善、仿生模型有待研究。项目的目标是：研究壁虎各个脚趾在不同附着需求下行为-力学的差异与共性，揭示攀爬动物脚趾分布式协同附着机制（结构-行为-功能相关性）；建立高性能仿生黏附结构设计准则和附着调控策略，提升附着机构/机器人的性能。具体研究内容包括：面向不同附着任务的脚趾肌电-行为-多维附着力同步测试，脚掌结构特性对其协同附着行为的影响，动物分布式协同附着机理及其仿生模型，仿生黏附脚掌及其功能验证。申请人具有多年研究积累，所在团队交叉学科研究实力，能够保证项目圆满完成。

Reliable interaction with surroundings is fundamental to the motion of animals and robots. Unscrambling the structure-function relationship in the biological attachment system is, therefore, of great significance to interpret the influence of the environment on animal evolution and to inspire the structure and control strategies of robot’s feet. Climbing animals like geckos successfully negotiate complex surfaces with feet comprised of distributed toes, showing an excellent adhesion example to engineers. However, the collaborative attachment mechanism among toes is not clear, the structure-function relationship among distributed adhesive toes is far from being understood, and, how the biological strategies can improve bio-inspired attachment devices still needs to be clarified. The goals of this project are to figure out the behavioral and functional similarities and differences among toes as they deal with changing surfaces, then reveal the distributed synergistic attachment mechanism among adhesive toes of climbing animals, and to establish a design criteria and attachment control strategy for bio-inspired attachment devices aiming at advancing bio-inspired their performance. The contents include independent synchronous measurement of the behavior, EMG and attachment force of the multiple toes at a foot while it attaches to varying surfaces, the influence of the morphology of feet on their attachment behavior, the biological and bio-inspired distributed synergistic attachment mechanism, and finally, implementation of bio-inspired attachment devices. The applicant has been devoting to bio-attachment and bio-inspired designs for years, and the team has the strengths of multidisciplinary research, ensuring that the project can be completed successfully.