基于GPL模型的仿生爬壁机器人路径规划

为了研究基于GPL模型的仿生爬壁机器人路径规划问题，提出了一种适合GPL模型的路径规划方法。首先对基于GPL模型的爬壁机器人进行了简单介绍，通过对GPL模型进行运动学、静力学分析，研究了该构型攀爬运动时机器人路径对攀爬能力的影响；其次，基于足端力最优得到了GPL模型腰关节的运动曲线，实现了路径规划；最后，采用ADAMS仿真验证了分析结果的正确性。结果表明，该方法可以解决基于GPL模型的爬壁机器人路径规划问题，同时研究结果也揭示了壁虎等生物原型采用摆动爬行而不是直线爬行的运动合理性。

A Path Planning for Bionic Climbing Robot Based on GPL Model

In order to investigate the path planning problems for bionic climbing robot based on GPL model, a path planning method was proposed. Firstly, the bionic climbing robot based on the GPL model was introduced. And then, the effects of the robot's path on climbing ability were studied by the kinematics and statics analyses of GPL model. The path planning was realized by minimizing the foot force. Finally, the results were validated by ADAMS simulation. The results show that the method may solve the path planning problems for bionic climbing robot based on GPL model, and explain the rationality of movement model for the gecko adopting swing crawling rather than rectilinear creeping.