The role of morphological computation of the goat hoof in slip reduction

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Title: The role of morphological computation of the goat hoof in slip reduction
Author(s): Abad, SA
Sornkarn, N
Nanayakkara, T
Item Type: Conference Paper
Abstract: The remarkable ability of goats to maintain stability during climbing cliffs or trees provides a valuable opportunity to understand some of the secrets of stable legged locomotion on unstructured terrains. This paper, for the first time, presents analytical and experimental explanations as to how the morphological computation at the goat hoof makes a significant contribution to slip reduction on both smooth and rough surfaces. We conducted experiments using a laboratory made hoof and compared its dynamic behavior against a rounded foot. We recorded forces and position of the hoof to analyze the effect of its shape and the individual contributions from 3-joints in the hoof on the work required to slip. Results state that the work required to move the hoof is more than 3 times that required to move a rounded foot. Additionally, the variables in the transient state are affected not only by the number and type of joints but also by the interaction with the environment. These findings promote the development of new types of feet for robots for all terrain conditions with greater stability and less control complexity.
Publication Date: 1-Dec-2016
Date of Acceptance: 9-Oct-2016
URI: http://hdl.handle.net/10044/1/51075
DOI: https://dx.doi.org/10.1109/IROS.2016.7759823
ISBN: 9781509037629
2153-0866
ISSN: 2153-0858
Published Proceedings: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Start Page: 5599
End Page: 5605
Journal / Book Title: IEEE International Conference on Intelligent Robots and Systems
Copyright Statement: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Location: Daejeon, South Korea
Publication Status: Published
Start Date: 2016-10-09
Finish Date: 2016-10-14
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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