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Locomotion Interfaces for Legged Robots: Design Inspiration From Natural Locomotion Interfaces
Abstract
This chapter presents a comparative study of the topographical structure of three common biological robotic inspirations: human, canine, and feline feet. It is shown that the metrological roughness of each of the examined feet is customized for the specific locomotion demands of the species. The textural parameters manifest close correlation to the pressure distribution experienced in movement and gait. This correlation enhances the durability and structural integrity of the bio-analogue. It is also shown that the metrological function of the human (plantigrade) feet pads combine that of the back and the front feet pads of the digitigrade mammals examined. It is argued that integrating the targeted engineering of roughness within the design process of robotic feet can enhance the function of walking robots. Further, it offers elegant solutions to some of the current problems encountered in design of humanoids and other bio-inspired walking robots.
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