eprintid: 10091233
rev_number: 21
eprint_status: archive
userid: 608
dir: disk0/10/09/12/33
datestamp: 2020-02-18 09:34:09
lastmod: 2021-11-15 01:43:15
status_changed: 2020-02-18 09:34:09
type: article
metadata_visibility: show
creators_name: Abad, S-A
creators_name: Herzig, N
creators_name: Sadati, SMH
creators_name: Nanayakkara, T
title: Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof
ispublished: pub
divisions: UCL
divisions: B04
divisions: C05
divisions: F45
keywords: Biologically inspired robots, compliant joint/
mechanism, legged robots, slip resistance.
note: This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
abstract: 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.
date: 2019-12
date_type: published
publisher: Institute of Electrical and Electronics Engineers (IEEE)
official_url: https://doi.org/10.1109/tro.2019.2930864
oa_status: green
full_text_type: pub
language: eng
primo: open
primo_central: open_green
verified: verified_manual
elements_id: 1752833
doi: 10.1109/tro.2019.2930864
lyricists_name: Abad Guaman, Sara
lyricists_id: SAABA44
actors_name: Austen, Jennifer
actors_id: JAUST66
actors_role: owner
full_text_status: public
publication: IEEE Transactions on Robotics
volume: 35
number: 6
pagerange: 1450-1463
citation:        Abad, S-A;    Herzig, N;    Sadati, SMH;    Nanayakkara, T;      (2019)    Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof.                   IEEE Transactions on Robotics , 35  (6)   pp. 1450-1463.    10.1109/tro.2019.2930864 <https://doi.org/10.1109/tro.2019.2930864>.       Green open access   
 
document_url: https://discovery.ucl.ac.uk/id/eprint/10091233/1/Abad%20Guaman_V08807297.pdf