2024
DOI: 10.21203/rs.3.rs-4251682/v1
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Slip-resistant mechanism of bio-inspired foot end based on particle morphology and friction on ice and frozen ground

Guoyu Li,
Rui Zhang,
Kaixiang Chen
et al.

Abstract: The attachment characteristics of the mechanical foot end are crucial for enhancing the traversability and locomotion of robots on extreme terrains. In this study targeting the reindeer touchdown unit, four bio-inspired foot ends and one conventional multi-baffle foot end were designed. Dynamic friction data of the bio-inspired foot ends were collected under various ground conditions, and the macro- and micro-structures of these surfaces were analyzed. The impacts of multiple factors on the attachment performa… Show more

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