TY  - JOUR
N1  - This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
ID  - discovery10091233
AV  - public
JF  - IEEE Transactions on Robotics
EP  - 1463
N2  - Robust mechanisms for slip resistance are an open challenge in legged locomotion. Animals such as goats show impressive ability to resist slippage on cliffs. It is not fully known what attributes in their body determine this ability. Studying the slip resistance dynamics of the goat may offer insight toward the biologically inspired design of robotic hooves. This article tests how the embodiment of the hoof contributes to solving the problem of slip resistance. We ran numerical simulations and experiments using a passive robotic goat hoof for different compliance levels of its three joints. We established that compliant yaw and pitch and stiff roll can increase the energy required to slide the hoof by ? 20% compared to the baseline (stiff hoof). Compliant roll and pitch allow the robotic hoof to adapt to the irregularities of the terrain. This produces an antilock braking system-like behavior of the robotic hoof for slip resistance. Therefore, the pastern and coffin joints have a substantial effect on the slip resistance of the robotic hoof, while the fetlock joint has the lowest contribution. These shed insights into how robotic hooves can be used to autonomously improve slip resistance.
VL  - 35
SP  - 1450
UR  - https://doi.org/10.1109/tro.2019.2930864
KW  - Biologically inspired robots
KW  -  compliant joint/
mechanism
KW  -  legged robots
KW  -  slip resistance.
TI  - Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof
IS  - 6
A1  - Abad, S-A
A1  - Herzig, N
A1  - Sadati, SMH
A1  - Nanayakkara, T
Y1  - 2019/12//
PB  - Institute of Electrical and Electronics Engineers (IEEE)
ER  -