Advanced Manufacturing and Materials of a Bio-mimetic Hoof for Space Robotics Applications

Planetary surfaces often feature steep, uneven, and unpredictable terrain conditions that resemble some of the most challenging natural environments on Earth. In these terrestrial settings, certain animals have evolved to navigate complex landscapes with remarkable agility. One example is the mountain goat, an animal whose hooves have evolved for stable and precise movement across rocky, inclined surfaces. This biological adaptation provides a useful model for improving robotic mobility in planetary exploration. This study draws inspiration from that natural adaptation to develop a bio-mimetic robotic hoof designed to enhance traction, durability, and adaptability for extraterrestrial exploration. By replicating the mechanical properties found in organic hooves, the study aims to improve robotic mobility on surfaces like the Moon and Mars. Materials and geometries for the hoof prototype are chosen based on prior research into bio-inspired robotics, as well as practical considerations such as cost-effectiveness and availability in current manufacturing supply chains. The work focuses on identifying combinations of structural materials and traction surfaces that reduce slipping and thus increase energy efficiency through passive stability while traversing rough terrain. Through this biologically inspired approach, the study seeks to address a current gap in robotic locomotion research and contribute to the development of more resilient and adaptive planetary exploration technologies.