Figure 3
Testing locomotion of AMOS, with and without shark skin feet, on a slope.
(A) AMOS with shark skin feet. (B) Snap shots of walking up a 17° slope covered by carpet where AMOS used the shark skin feet. (C) A comparison of specific resistance during walking with the rubber feet and the shark skin feet. (D) Gait diagram. Black bars show swing phase and white bars show stance phase. We performed five runs for each walking experiment. The error bars represent standard deviation. Note that the slope angle used here is the maximum angle that AMOS can walk up using its rubber feet. Based on this, average friction coefficient between the rubber feet and carpet is approximately 0.305. We refer to Fig. 1C for average friction coefficient between the shark skin feet and carpet. We encourage readers to also see Supplementary Movie 4 illustrating the tests.
