Fig. 3: Key morphological features in the hoof.
From: Designing passive stability in mountain goat-inspired robotic feet through situated heuristics
a The engineered hoof has different degrees of compliance in roll, pitch, and yaw. It is made from three parts: (bi) a solid insert to provide a mechanical interface, (bii) a cast PU Shore-A 80 body, and (biii) PU Shore-A 60 pads. (c) We compared the hoof to a SotA (State-of-the-Art) foot in outdoor experiments. The images of the hoof and SotA foot are at the same scale. The SotA foot was based on the foot used on the ANYmal Quadruped43 to maximise traction.
