A Vision–Locomotion Framework Toward Obstacle Avoidance for a Bio-Inspired Gecko Robot

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Abstract
This paper presents the design and experimental evaluation of a bio-inspired gecko robot, focusing on mechanical design, vision-based obstacle perception, and rhythmic locomotion control as enabling technologies for future obstacle avoidance in complex environments. The robot features a 17-degrees-of-freedom mechanical structure with a flexible spine and multi-jointed limbs, providing a physical basis for adaptive locomotion. For perception, a custom obstacle detection dataset was constructed from the robot’s onboard camera view and used to train a YOLOv5-based detection model. Experimental results show that the trained model achieves a mean average precision (mAP) of 0.979 and a maximum F1-score of 0.97 at an optimal confidence threshold, demonstrating reliable real-time obstacle perception under diverse indoor conditions. For motion control, a central pattern generator (CPG) based on Hopf oscillators is implemented to generate rhythmic locomotion. Experimental evaluations confirm stable diagonal gait generation, with coordinated joint trajectories oscillating at 1 Hz. The flexible spine exhibits periodic lateral deflection with peak amplitudes of ±15°, ±10°, and ±8° across spinal joints, enhancing locomotion continuity and turning capability. Physical robot experiments further demonstrate smooth straight-line crawling enabled by the coupled limb–spine motion. While visual perception and CPG-based locomotion are experimentally validated as independent subsystems, their real-time closed-loop integration is not implemented in this study. Instead, this work establishes a system-level framework and experimental baseline for future perception–motion coupling, providing a foundation for closed-loop obstacle avoidance and autonomous navigation in bio-inspired gecko robots.
Funding Information
  • National Natural Science Foundation of China (52575339)
  • National Natural Science Foundation of China (52405317)
  • Natural Science Foundation of Jiangsu Province (BK20241407)

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