Imperial College London

Dr Thrishantha Nanayakkara

Faculty of EngineeringDyson School of Design Engineering

Reader in Design Engineering and Robotics



+44 (0)20 7594 0965t.nanayakkara Website CV




RCS1 M229Dyson BuildingSouth Kensington Campus






BibTex format

author = {Abad, S-A and Herzig, N and Sadati, SMH and Nanayakkara, DPT},
doi = {10.1109/TRO.2019.2930864},
journal = {IEEE Transactions on Robotics},
pages = {1450--1463},
title = {Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof},
url = {},
volume = {35},
year = {2019}

RIS format (EndNote, RefMan)

AB - Robust mechanisms for slip resistance are an open challenge in legged locomotion. Animals such as goats show impressive ability to resist slippage on cliffs. It is not fully known what attributes in their body determine this ability. Studying the slip resistance dynamics of the goat may offer insight towards the biologically-inspired design of robotic hooves. This paper tests how the embodiment of the hoof contributes to solving the problem of slip resistance. We ran numerical simulations and experiments using a passive robotic goat hoof for different compliance levels of its 3 joints. We established that compliant yaw and pitch and stiff roll can increase the energy required to slide the hoof by ≈ 20% compared to the baseline (stiff hoof). Compliant roll and pitch allow the robotic hoof to adapt to the irregularities of the terrain. This produces an Anti-Lock Braking System-like behavior of the robotic hoof for slip resistance. Therefore, the pastern and coffin joints have a substantial effect on the slip resistance of the robotic hoof while the fetlock joint has the lowest contribution. These shed insights into how robotic hooves can be used to autonomously improve slip resistance.
AU - Abad,S-A
AU - Herzig,N
AU - Sadati,SMH
AU - Nanayakkara,DPT
DO - 10.1109/TRO.2019.2930864
EP - 1463
PY - 2019///
SN - 1552-3098
SP - 1450
TI - Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof
T2 - IEEE Transactions on Robotics
UR -
UR -
VL - 35
ER -