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The Fin Ray structure is one of the solutions. Although the Fin Ray effect has been proposed and exploited, no detailed investigation has been conducted on the effect of different crossbeam angles inside its frame. Thus, herein, an integrative approach is used, combining 3D printing with soft material, finite element modeling, and neural control to 1) manufacture the Fin Ray structure with compliancy; 2) investigate the effect of different crossbeam angles under different loads and cylindrical substrates; and 3) finally apply it as an efficient compliant robot foot structure for energy\u2010efficient on\u2010pipe locomotion. Considering the factors of a large contact area, high energy efficiency, and better durability, the Fin Ray model with nonstandard 10\u00b0\u2010inclined crossbeams provides the best compromise in comparison with other models, within the constraints of the defined geometric parameters.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100133","type":"journal-article","created":{"date-parts":[[2021,10,27]],"date-time":"2021-10-27T09:17:27Z","timestamp":1635326247000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Fin Ray Crossbeam Angles for Efficient Foot Design for Energy\u2010Efficient Robot Locomotion"],"prefix":"10.1002","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4806-7576","authenticated-orcid":false,"given":"Poramate","family":"Manoonpong","sequence":"first","affiliation":[{"name":"Embodied AI and Neurorobotics Lab SDU Biorobotics The M\u00e6rsk Mc-Kinney M\u00f8ller Institute University of Southern Denmark  Campusvej 55 Odense M 5230 Denmark"},{"name":"Bio-inspired Robotics and Neural Engineering Lab School of Information Science and Technology Vidyasirimedhi Institute of Science and Technology  555 Moo 1 Payupnai Wangchan Rayong 21210 Thailand"}]},{"given":"Hamed","family":"Rajabi","sequence":"additional","affiliation":[{"name":"Department of Functional Morphology and Biomechanics Zoological Institute Kiel University  Am Botanischen Garten 1\u20109 D\u201024098 Kiel Germany"},{"name":"Division of Mechanical Engineering and Design School of Engineering London South Bank University  103 Borough Rd London SE1 0AA UK"}]},{"given":"J\u00f8rgen C.","family":"Larsen","sequence":"additional","affiliation":[{"name":"Embodied AI and Neurorobotics Lab SDU Biorobotics The M\u00e6rsk Mc-Kinney M\u00f8ller Institute University of Southern Denmark  Campusvej 55 Odense M 5230 Denmark"}]},{"given":"Seyed S.","family":"Raoufi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Bandar Anzali Branch, Islamic Azad University  Talibabad Bandar\u2010e\u2010Anzali 43131\u201011111 Iran"}]},{"given":"Naris","family":"Asawalertsak","sequence":"additional","affiliation":[{"name":"Bio-inspired Robotics and Neural Engineering Lab School of Information Science and Technology Vidyasirimedhi Institute of Science and Technology  555 Moo 1 Payupnai Wangchan Rayong 21210 Thailand"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5763-0906","authenticated-orcid":false,"given":"Jettanan","family":"Homchanthanakul","sequence":"additional","affiliation":[{"name":"Bio-inspired Robotics and Neural Engineering Lab School of Information Science and Technology Vidyasirimedhi Institute of Science and Technology  555 Moo 1 Payupnai Wangchan Rayong 21210 Thailand"}]},{"given":"Halvor T.","family":"Tramsen","sequence":"additional","affiliation":[{"name":"Department of Functional Morphology and Biomechanics Zoological Institute Kiel University  Am Botanischen Garten 1\u20109 D\u201024098 Kiel Germany"}]},{"given":"Abolfazl","family":"Darvizeh","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Bandar Anzali Branch, Islamic Azad University  Talibabad Bandar\u2010e\u2010Anzali 43131\u201011111 Iran"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9712-7953","authenticated-orcid":false,"given":"Stanislav N.","family":"Gorb","sequence":"additional","affiliation":[{"name":"Department of Functional Morphology and Biomechanics Zoological Institute Kiel University  Am Botanischen Garten 1\u20109 D\u201024098 Kiel Germany"}]}],"member":"311","published-online":{"date-parts":[[2021,10,27]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"crossref","unstructured":"O.Pfaff S.Simeon C.Ivan S.Pavol inAnnals of DAAAM for 2011 and Proc. of the 22nd Inter. 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