Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof

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Title: Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof
Authors: Abad, S-A
Herzig, N
Sadati, SMH
Nanayakkara, DPT
Item Type: Journal Article
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 towards the biologically-inspired design of robotic hooves. This paper 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 3 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 Anti-Lock 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.
Issue Date: Dec-2019
Date of Acceptance: 26-Jun-2019
URI: http://hdl.handle.net/10044/1/70935
DOI: 10.1109/TRO.2019.2930864
ISSN: 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 1450
End Page: 1463
Journal / Book Title: IEEE Transactions on Robotics
Volume: 35
Issue: 6
Copyright Statement: © The Authors 2019. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
Sponsor/Funder: Engineering & Physical Science Research Council (E
Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/R511547/1
Keywords: Industrial Engineering & Automation
0801 Artificial Intelligence and Image Processing
0906 Electrical and Electronic Engineering
0913 Mechanical Engineering
Publication Status: Published
Online Publication Date: 2019-08-20
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering

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