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Design of Bionic Foot Inspired by the Anti-Slip Cushioning Mechanism of Yak Feet. | LitMetric

Design of Bionic Foot Inspired by the Anti-Slip Cushioning Mechanism of Yak Feet.

Biomimetics (Basel)

Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China.

Published: April 2024

AI Article Synopsis

  • Legged robots are increasingly used on uneven terrain, and the design of their foot structure greatly impacts their stability and motion efficiency.
  • The yak foot's unique design, with a high outer edge and low middle, enhances soil grip and acts as an effective anti-slip buffer, making it an ideal model for bionic foot design.
  • Simulations showed that the yak-inspired foot design significantly improves anti-slip performance, especially on soil, while emphasizing that the finger pillow-hoof ball structure is crucial for cushioning during ground contact.

Article Abstract

In recent years, legged robots have been more and more widely used on non-structured terrain, and their foot structure has an important impact on the robot's motion performance and stability. The structural characteristics of the yak foot sole with a high outer edge and low middle, which has excellent soil fixation ability and is an excellent bionic prototype, can improve the friction between the foot and the ground. At the same time, the foot hooves can effectively alleviate the larger impact load when contacting with the ground, which is an excellent anti-slip buffer mechanism. The bionic foot end design was carried out based on the morphology of the yak sole; the bionic foot design was carried out based on the biological anatomy observation of yak foot skeletal muscles. The virtual models of the bionic foot end and the bionic foot were established and simulated using Solidworks 2022 and Abaqus 2023, and the anti-slip performance on different ground surfaces and the influence of each parameter of the bionic foot on the cushioning effect were investigated. The results show that (1) the curved shape of the yak sole has a good anti-slip performance on both soil ground and rocky ground, and the anti-slip performance is better on soil ground; (2) the curved shape of the yak sole has a larger maximum static friction than the traditional foot, and the anti-slip performance is stronger under the same pressure conditions; (3) the finger pillow-hoof ball structure of the bionic foot has the greatest influence on the buffering effect, and the buffering effect of the bionic foot is best when the tip of the bionic foot touches the ground first.

Download full-text PDF

Source
http://www.ncbi.nlm.nih.gov/pmc/articles/PMC11118121PMC
http://dx.doi.org/10.3390/biomimetics9050260DOI Listing

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