Zhirui Wang

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.

The study aimed to assess the gait adjustment techniques of limbs on different slopes and investigate the relationship between forelimb and hindlimb kinetics and the center of mass (COM) during the uphill movement of a specific Boer goat using a pressure-sensitive walkway (PSW). During the uphill and downhill movements at a comfortable walking speed, we measured the ground reaction force (GRF) of the forelimbs and hindlimbs on the slope, the change in the included angle of the propulsive force direction of the forelimbs and hindlimbs, and the impulse relationship between GRF and propulsive force. According to the study, since the forelimbs of the goat were nearer the COM, they were primarily adjusted during the movement on the slope. By lowering the initial included angle of the propulsive force and the angle variation range, the forelimbs and hindlimbs could walk steadily. The forelimbs and hindlimbs exhibited completely different adjustment strategies during uphill and downhill movements. In particular, the forelimbs performed braking and the hindlimbs performed driving. In addition, we discovered that the goat altered its adjustment strategy when climbing the steep slope. All findings of this study indicate the need to understand the gait adjustment mode of the Boer goat during movement on the slope to thoroughly comprehend the driving strategy of quadrupeds with the ability to walk on specialized terrains.