Fin Ray Crossbeam Angles for Efficient Foot Design for Energy‐Efficient Robot Locomotion

Robot foot and gripper structures with compliancy using different mechanical solutions have been developed to enhance proper contact formations gripping on various substrates. The Fin Ray structure is one of the solutions. Although effect has proposed exploited, no detailed investigation conducted crossbeam angles inside its frame. Thus, herein, an integrative approach used, combining 3D printing soft material, finite element modeling, neural control 1) manufacture compliancy; 2) investigate under loads cylindrical substrates; 3) finally apply it as efficient compliant robot for energy-efficient on-pipe locomotion. Considering factors a large area, high energy efficiency, better durability, model nonstandard 10°-inclined crossbeams provides best compromise in comparison other models, within constraints defined geometric parameters.