{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,11]],"date-time":"2026-09-11T06:09:34Z","timestamp":1789106974456,"version":"build-2803163510"},"reference-count":245,"publisher":"IOP Publishing","issue":"5","license":[{"start":{"date-parts":[[2026,9,11]],"date-time":"2026-09-11T00:00:00Z","timestamp":1789084800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,9,11]],"date-time":"2026-09-11T00:00:00Z","timestamp":1789084800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/iopscience.iop.org\/info\/page\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/100010681","name":"H2020 Environment","doi-asserted-by":"crossref","award":["Natural Intelligence 101016970"],"award-info":[{"award-number":["Natural Intelligence 101016970"]}],"id":[{"id":"10.13039\/100010681","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100000266","name":"UK Engineering and Physical Sciences Research Council","doi-asserted-by":"crossref","award":["EP\/UKRI259"],"award-info":[{"award-number":["EP\/UKRI259"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["iopscience.iop.org"],"crossmark-restriction":false},"short-container-title":["Bioinspir. Biomim."],"published-print":{"date-parts":[[2026,10,30]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Hoofed animals such as mountain goats, camels, horses, cows, and pigs exhibit exceptional capability in managing complex contact dynamics within their ecological niches, ranging from steep rocky slopes to loose sand and muddy ground. Recent numerical modelling and experimental work have demonstrated that the passive dynamics of mountain goat hooves can significantly reduce slippage without the need for active closed-loop control, provided that joint compliance lies within an appropriate range. In this paper, we review the biomechanics of biological hooves in relation to their environmental specialisations and examine the corresponding design principles, advantages, and limitations of robotic feet. By integrating evidence from biological morphology, robotic prototypes, and contact mechanics, we identify the critical morphological and material features required for robotic feet to perform effectively across diverse terrains. The paper highlights that: (a) layered and anisotropic material organisation in biological hooves enables passive, terrain-adaptive contact dynamics that provide stability and traction without active control; (b) anticipatory and morphology-driven contact modulation can replace high-bandwidth control in legged robots. This involves tunability of mechanical parameters, such as stiffness, damping, and contact geometry; (c) future robotic feet should combine bio-informed minimalism with adaptive compliance to achieve terrain-general locomotion.<\/jats:p>","DOI":"10.1088\/1748-3190\/ae98cd","type":"journal-article","created":{"date-parts":[[2026,8,12]],"date-time":"2026-08-12T22:54:14Z","timestamp":1786575254000},"page":"051001","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Bioinspired hooves for robotics: structural, material, and functional insights"],"prefix":"10.1088","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2612-2810","authenticated-orcid":true,"given":"Alok","family":"Ranjan","sequence":"first","affiliation":[{"name":"Universit\u00e0 di Pisa"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6695-4307","authenticated-orcid":false,"given":"Shehara","family":"Perera","sequence":"additional","affiliation":[{"name":"University of Cambridge"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-9312-8387","authenticated-orcid":false,"given":"Zedong","family":"Zhang","sequence":"additional","affiliation":[{"name":"University College London"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-7855-863X","authenticated-orcid":true,"given":"Chris","family":"Kalogroulis","sequence":"additional","affiliation":[{"name":"Imperial College London"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2559-9569","authenticated-orcid":false,"given":"Franco","family":"Angelini","sequence":"additional","affiliation":[{"name":"Universit\u00e0 di Pisa"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5873-3173","authenticated-orcid":false,"given":"Manolo","family":"Garabini","sequence":"additional","affiliation":[{"name":"Universit\u00e0 di Pisa"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3471-6942","authenticated-orcid":true,"given":"Sara-Adela","family":"Abad","sequence":"additional","affiliation":[{"name":"University College London"},{"name":"Universidad Nacional de Loja"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1882-1232","authenticated-orcid":true,"given":"Thrishantha","family":"Nanayakkara","sequence":"additional","affiliation":[{"name":"Imperial College London"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"266","published-online":{"date-parts":[[2026,9,11]]},"reference":[{"key":"bbae98cdbib1","doi-asserted-by":"publisher","first-page":"2618","DOI":"10.1073\/pnas.1814329116","type":"journal-article","article-title":"Transitions between foot postures are associated with elevated rates of body size evolution in mammals","volume":"116","author":"Kubo","year":"2019","journal-title":"Proc. Natl Acad. Sci."},{"key":"bbae98cdbib2","author":"Biewener","year":"2018","edition":"2nd edn","type":"book"},{"key":"bbae98cdbib3","doi-asserted-by":"publisher","first-page":"eabq4049","DOI":"10.1126\/sciadv.abq4049","type":"journal-article","article-title":"The global biomass and number of terrestrial arthropods","volume":"9","author":"Rosenberg","year":"2023","journal-title":"Sci. Adv."},{"key":"bbae98cdbib4","doi-asserted-by":"publisher","DOI":"10.1016\/j.asd.2020.100983","type":"journal-article","article-title":"Survey of biomechanical aspects of arthropod terrestrialisation\u2013substrate bound legged locomotion","volume":"59","author":"Weihmann","year":"2020","journal-title":"Arthropod Struct. Dev."},{"key":"bbae98cdbib5","author":"Raibert","year":"1986","type":"book"},{"key":"bbae98cdbib6","author":"Wilson","year":"1984","type":"book"},{"key":"bbae98cdbib7","author":"Tekiela","year":"2025","type":"book"},{"key":"bbae98cdbib8","author":"Derocher","year":"2012","type":"book"},{"key":"bbae98cdbib9","author":"Chadwick","year":"2002","type":"book"},{"key":"bbae98cdbib10","doi-asserted-by":"publisher","first-page":"781","DOI":"10.1111\/j.1469-7580.2006.00648.x","type":"journal-article","article-title":"The structure of the cushions in the feet of African elephants (Loxodonta Africana)","volume":"209","author":"Weissengruber","year":"2006","journal-title":"J. Anat."},{"key":"bbae98cdbib11","doi-asserted-by":"publisher","first-page":"121","DOI":"10.1242\/jeb.130.1.121","type":"journal-article","article-title":"Functional design of horse hoof keratin: the modulation of mechanical properties through hydration effects","volume":"130","author":"Bertram","year":"1987","journal-title":"J. Exp. Biol."},{"key":"bbae98cdbib12","doi-asserted-by":"publisher","first-page":"1123","DOI":"10.1242\/jeb.043596","type":"journal-article","article-title":"Toe function and dynamic pressure distribution in ostrich locomotion","volume":"214","author":"Schaller","year":"2011","journal-title":"J. Exp. Biol."},{"key":"bbae98cdbib13","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2014.0027","type":"journal-article","article-title":"Scaling and biomechanics of surface attachment in climbing animals","volume":"370","author":"Labonte","year":"2015","journal-title":"Phil. Trans. R. Soc. B"},{"key":"bbae98cdbib14","doi-asserted-by":"publisher","first-page":"229","DOI":"10.1002\/jmor.1051450208","type":"journal-article","article-title":"The form and function of retractile claws in the Felidae and other representative carnivorans","volume":"145","author":"Gonyea","year":"1975","journal-title":"J. Morphol."},{"key":"bbae98cdbib15","author":"Nanayakkara","year":"2024","type":"book"},{"key":"bbae98cdbib16","volume":"vol 1","author":"Nanayakkara","year":"2026","type":"book"},{"key":"bbae98cdbib17","doi-asserted-by":"publisher","first-page":"267","DOI":"10.1016\/j.actbio.2019.04.003","type":"journal-article","article-title":"A natural energy absorbent polymer composite: The equine hoof wall","volume":"90","author":"Huang","year":"2019","journal-title":"Acta Biomater."},{"key":"bbae98cdbib18","doi-asserted-by":"publisher","first-page":"283","DOI":"10.1016\/j.biosystemseng.2013.04.002","type":"journal-article","article-title":"The influence of loading conditions on equine hoof capsule deflections and stored energy assessed by finite element analysis","volume":"115","author":"Ramsey","year":"2013","journal-title":"Biosyst. Eng."},{"key":"bbae98cdbib19","first-page":"169","type":"book","article-title":"The petman and atlas robots at boston dynamics","author":"Nelson","year":"2018"},{"key":"bbae98cdbib20","article-title":"Agility robotics introduces digit V2, a more capable bipedal robot","author":"IEEE Spectrum","year":"2024","type":"other"},{"key":"bbae98cdbib21","first-page":"2471","type":"conference-proceedings","article-title":"Humanoid robot HRP-3","author":"Kaneko","year":"2008"},{"key":"bbae98cdbib22","first-page":"769","type":"conference-proceedings","article-title":"Mechatronic design of nao humanoid","author":"Gouaillier","year":"2009"},{"key":"bbae98cdbib23","first-page":"916","type":"conference-proceedings","article-title":"Overview of the torque-controlled humanoid robot TORO","author":"Englsberger","year":"2014"},{"key":"bbae98cdbib24","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1098\/rsta.2006.1917","type":"journal-article","article-title":"Honda humanoid robots development","volume":"365","author":"Hirose","year":"2007","journal-title":"Phil. Trans. R. Soc. A"},{"key":"bbae98cdbib25","doi-asserted-by":"publisher","first-page":"397","DOI":"10.1002\/rob.21560","type":"journal-article","article-title":"Valkyrie: NASA\u2019s first bipedal humanoid robot","volume":"32","author":"Radford","year":"2015","journal-title":"J. Field Robot."},{"key":"bbae98cdbib26","article-title":"Nadia humanoid\u2014ihmc robotics lab","year":"2025","type":"other"},{"key":"bbae98cdbib27","first-page":"1817","type":"conference-proceedings","article-title":"Walk-man humanoid lower body design optimization for enhanced physical performance","author":"Negrello","year":"2016"},{"key":"bbae98cdbib28","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1109\/MSPEC.2019.8913831","type":"journal-article","article-title":"By leaps and bounds: an exclusive look at how boston dynamics is redefining robot agility","volume":"56","author":"Guizzo","year":"2019","journal-title":"IEEE Spectr."},{"key":"bbae98cdbib29","doi-asserted-by":"publisher","first-page":"38","DOI":"10.1109\/IROS.2016.7758092","type":"conference-proceedings","article-title":"Anymal-a highly mobile and dynamic quadruped robot","author":"Hutter","year":"2016"},{"key":"bbae98cdbib30","doi-asserted-by":"publisher","first-page":"3013","DOI":"10.1109\/LRA.2019.2923967","type":"journal-article","article-title":"Trajectory optimization for legged robots with slipping motions","volume":"4","author":"Carius","year":"2019","journal-title":"IEEE Robot. Autom. Lett."},{"key":"bbae98cdbib31","first-page":"318","type":"conference-proceedings","article-title":"Control of legged robots with optimal distribution of contact forces","author":"Righetti","year":"2011"},{"key":"bbae98cdbib32","doi-asserted-by":"publisher","first-page":"86645","DOI":"10.1109\/ACCESS.2023.3304992","type":"journal-article","article-title":"Intelligent control of multilegged robot smooth motion: a review","volume":"11","author":"Zhao","year":"2023","journal-title":"IEEE Access"},{"key":"bbae98cdbib33","doi-asserted-by":"publisher","first-page":"843","DOI":"10.1109\/TMECH.2023.3326602","type":"journal-article","article-title":"Design guidelines for bioinspired adaptive foot for stable interaction with the environment","volume":"29","author":"Ranjan","year":"2023","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"bbae98cdbib34","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1038\/s44182-025-00061-0","type":"journal-article","article-title":"Designing passive stability in mountain goat-inspired robotic feet through situated heuristics","volume":"3","author":"Kalogroulis","year":"2025","journal-title":"npj Robot."},{"key":"bbae98cdbib35","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ad839c","type":"journal-article","article-title":"Robotic feet modeled after ungulates improve locomotion on soft wet grounds","volume":"19","author":"Godon","year":"2024","journal-title":"Bioinsp. Biomim."},{"key":"bbae98cdbib36","doi-asserted-by":"publisher","first-page":"302","DOI":"10.1109\/TRO.2021.3088060","type":"journal-article","article-title":"Adaptive feet for quadrupedal walkers","volume":"38","author":"Catalano","year":"2021","journal-title":"IEEE Trans. Robot."},{"key":"bbae98cdbib37","first-page":"1204","type":"conference-proceedings","article-title":"Toward an adaptive foot for natural walking","author":"Piazza","year":"2016"},{"key":"bbae98cdbib38","first-page":"5599","type":"conference-proceedings","article-title":"The role of morphological computation of the goat hoof in slip reduction","author":"Abad","year":"2016"},{"key":"bbae98cdbib39","doi-asserted-by":"publisher","first-page":"1450","DOI":"10.1109\/TRO.2019.2930864","type":"journal-article","article-title":"Significance of the compliance of the joints on the dynamic slip resistance of a bioinspired hoof","volume":"35","author":"Abad","year":"2019","journal-title":"IEEE Trans. Robot."},{"key":"bbae98cdbib40","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2023.105448","type":"journal-article","article-title":"A study on quadruped mobile robots","volume":"190","author":"Taheri","year":"2023","journal-title":"Mech. Mach. Theory"},{"key":"bbae98cdbib41","doi-asserted-by":"publisher","first-page":"eab9742","DOI":"10.1126\/scirobotics.abp9742","type":"journal-article","article-title":"Cerberus in the DARPA subterranean challenge","volume":"7","author":"Tranzatto","year":"2022","journal-title":"Sci. Robot."},{"key":"bbae98cdbib42","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ac92b3","type":"journal-article","article-title":"Legged locomotion over irregular terrains: state of the art of human and robot performance","volume":"17","author":"Torres-Pardo","year":"2022","journal-title":"Bioinsp. Biomim."},{"key":"bbae98cdbib43","doi-asserted-by":"publisher","first-page":"10822","DOI":"10.3182\/20080706-5-KR-1001.01833","type":"conference-proceedings","article-title":"Bigdog, the rough-terrain quadruped robot","volume":"41","author":"Raibert","year":"2008"},{"key":"bbae98cdbib44","doi-asserted-by":"publisher","first-page":"2245","DOI":"10.1109\/IROS.2018.8593885","type":"conference-proceedings","article-title":"MIT Cheetah 3: design and control of a robust, dynamic quadruped robot","author":"Bledt","year":"2018"},{"key":"bbae98cdbib45","article-title":"Digit: the agile humanoid delivery robot","author":"Agility Robotics","year":"2019","type":"other"},{"key":"bbae98cdbib46","article-title":"Highly dynamic quadruped locomotion via whole body impulse control and model predictive control","author":"Kim","year":"2019","type":"preprint"},{"key":"bbae98cdbib47","article-title":"Littledog: rough terrain quadruped","author":"Raibert","year":"2008","type":"other"},{"key":"bbae98cdbib48","doi-asserted-by":"publisher","first-page":"635","DOI":"10.1109\/TMECH.2016.2616284","type":"journal-article","article-title":"Design of the hydraulically actuated, torque-controlled quadruped robot HyQ2Max","volume":"22","author":"Semini","year":"2017","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"bbae98cdbib49","doi-asserted-by":"publisher","first-page":"900","DOI":"10.1109\/LRA.2016.2528294","type":"journal-article","article-title":"Design principles for a family of direct-drive legged robots","volume":"1","author":"Kenneally","year":"2016","journal-title":"IEEE Robot. Autom. Lett."},{"key":"bbae98cdbib50","article-title":"Go2 foot end\u2014sense-sensitive, reliable and durable","author":"Unitree Robotics","year":"2025","type":"other"},{"key":"bbae98cdbib51","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s41315-024-00412-4","type":"journal-article","article-title":"Experimental evaluation of commercial quadruped robots: stability and performance in non-inertial environments","volume":"9","author":"Misenti","year":"2025","journal-title":"Int. J. Intell. Robot. Appl."},{"key":"bbae98cdbib52","doi-asserted-by":"publisher","first-page":"932","DOI":"10.1177\/0278364913489205","type":"journal-article","article-title":"Towards dynamic trot gait locomotion: design, control and experiments with cheetah-cub, a compliant quadruped robot","volume":"32","author":"Spr\u00f6witz","year":"2013","journal-title":"Int. J. Robot. Res."},{"key":"bbae98cdbib53","doi-asserted-by":"publisher","first-page":"27","DOI":"10.3389\/fncom.2014.00027","type":"journal-article","article-title":"Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs","volume":"8","author":"Spr\u00f6witz","year":"2014","journal-title":"Frontiers Comput. Neurosci."},{"key":"bbae98cdbib54","doi-asserted-by":"publisher","first-page":"309","DOI":"10.1007\/s00422-013-0551-9","type":"journal-article","article-title":"Horse-like walking, trotting and galloping derived from kinematic motion primitives (kMPs) and their application to walk\/trot transitions in a compliant quadruped robot","volume":"107","author":"Moro","year":"2013","journal-title":"Biol. Cybern."},{"key":"bbae98cdbib55","first-page":"p 21","type":"conference-proceedings","article-title":"Sensorized foot design for robust locomotion: a study using cheetah-cub","author":"Vespignani","year":"2014"},{"key":"bbae98cdbib56","first-page":"1160","type":"conference-proceedings","article-title":"Friction and damping of a compliant foot based on granular jamming for legged robots","author":"Hauser","year":"2016"},{"key":"bbae98cdbib57","doi-asserted-by":"publisher","first-page":"831","DOI":"10.1177\/0959651811402275","type":"journal-article","article-title":"Design of HyQ\u2013a hydraulically and electrically actuated quadruped robot","volume":"225","author":"Semini","year":"2011","journal-title":"Proc. Inst. Mech. Eng. I"},{"key":"bbae98cdbib58","first-page":"1","type":"conference-proceedings","article-title":"Development of the lightweight hydraulic quadruped robot\u2014MiniHyQ","author":"Khan","year":"2015"},{"key":"bbae98cdbib59","article-title":"Brief introduction to the quadruped robot HyQReal","author":"Semini","year":"2019","type":"conference-proceedings"},{"key":"bbae98cdbib60","first-page":"20","type":"conference-proceedings","article-title":"Design overview of the hydraulic quadruped robots","author":"Semini","year":"2015"},{"key":"bbae98cdbib61","first-page":"6288","type":"conference-proceedings","article-title":"Spacebok: a dynamic legged robot for space exploration","author":"Arm","year":"2019"},{"key":"bbae98cdbib62","article-title":"Passive adaptive planar foot for legged robots","author":"K\u00e4slin","year":"2018","type":"conference-proceedings"},{"key":"bbae98cdbib63","first-page":"2707","type":"conference-proceedings","article-title":"Towards a passive adaptive planar foot with ground orientation and contact force sensing for legged robots","author":"K\u00e4slin","year":"2018"},{"key":"bbae98cdbib64","first-page":"p 95","type":"conference-proceedings","article-title":"Softfoot-Q: a novel adaptive foot for quadrupeds","author":"Pollayil","year":"2020"},{"key":"bbae98cdbib65","first-page":"178","type":"conference-proceedings","article-title":"Adaptive compliant foot design for salamander robots","author":"Paez","year":"2019"},{"key":"bbae98cdbib66","first-page":"1162","type":"conference-proceedings","article-title":"Multi-segmented adaptive feet for versatile legged locomotion in natural terrain","author":"Chatterjee","year":"2023"},{"key":"bbae98cdbib67","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/1507\/5\/052008","type":"journal-article","article-title":"Bionic design and anti-slip characteristics study of quadruped robot foot","volume":"1507","author":"Tian","year":"2020","journal-title":"J. Phys.: Conf. Ser."},{"key":"bbae98cdbib68","doi-asserted-by":"publisher","first-page":"600","DOI":"10.3390\/biomimetics8080600","type":"journal-article","article-title":"Foot bionics research based on reindeer hoof attachment mechanism and macro\/microstructures","volume":"8","author":"Li","year":"2023","journal-title":"Biomimetics"},{"key":"bbae98cdbib69","doi-asserted-by":"publisher","first-page":"910","DOI":"10.55417\/fr.2022030","type":"journal-article","article-title":"Traversing steep and granular Martian analog slopes with a dynamic quadrupedal robot","volume":"2","author":"Kolvenbach","year":"2022","journal-title":"Field Robot."},{"key":"bbae98cdbib70","doi-asserted-by":"publisher","first-page":"3856","DOI":"10.1038\/s41598-020-60795-9","type":"journal-article","article-title":"Biomechanical insights into the role of foot pads during locomotion in camelid species","volume":"10","author":"Clemente","year":"2020","journal-title":"Sci. Rep."},{"key":"bbae98cdbib71","doi-asserted-by":"publisher","first-page":"3975","DOI":"10.1109\/LRA.2020.2982361","type":"journal-article","article-title":"Granular jamming feet enable improved foot\u2013ground interactions for robot mobility on deformable ground","volume":"5","author":"Chopra","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"bbae98cdbib72","article-title":"Replace foot treads","author":"Boston Dynamics Support Center","year":"2025","type":"other"},{"key":"bbae98cdbib73","doi-asserted-by":"publisher","first-page":"145","DOI":"10.1177\/0278364910387457","type":"journal-article","article-title":"The littledog robot","volume":"30","author":"Murphy","year":"2011","journal-title":"Int. J. Robot. Res."},{"key":"bbae98cdbib74","doi-asserted-by":"publisher","first-page":"192","DOI":"10.1177\/0278364910388315","type":"journal-article","article-title":"Bounding on rough terrain with the littledog robot","volume":"30","author":"Shkolnik","year":"2011","journal-title":"Int. J. Robot. Res."},{"key":"bbae98cdbib75","first-page":"3649","type":"conference-proceedings","article-title":"Line walking and balancing for legged robots with point feet","author":"Gonzalez","year":"2020"},{"key":"bbae98cdbib76","first-page":"1312","type":"conference-proceedings","article-title":"Walking on partial footholds including line contacts with the humanoid robot atlas","author":"Wiedebach","year":"2016"},{"key":"bbae98cdbib77","first-page":"1","type":"conference-proceedings","article-title":"Analysis of flat terrain for the atlas robot","author":"de Waard","year":"2013"},{"key":"bbae98cdbib78","first-page":"3769","type":"conference-proceedings","article-title":"Rapidly adaptable legged robots via evolutionary meta-learning","author":"Song","year":"2020"},{"key":"bbae98cdbib79","first-page":"1397","type":"conference-proceedings","article-title":"Reactive velocity control reduces energetic cost of jumping with a virtual leg spring on simulated granular media","author":"Roberts","year":"2018"},{"key":"bbae98cdbib80","doi-asserted-by":"publisher","first-page":"1548","DOI":"10.1109\/LRA.2020.2969160","type":"journal-article","article-title":"Quadrupedal locomotion on uneven terrain with sensorized feet","volume":"5","author":"Valsecchi","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"bbae98cdbib81","first-page":"7448","type":"conference-proceedings","article-title":"Optimized jumping on the MIT cheetah 3 robot","author":"Nguyen","year":"2019"},{"key":"bbae98cdbib82","first-page":"1","type":"conference-proceedings","article-title":"See spot run: real-time monitoring and control of boston dynamics spot from virtual reality","author":"Hart","year":"2025"},{"key":"bbae98cdbib83","first-page":"1443","type":"conference-proceedings","article-title":"Quadruped-frog: rapid online optimization of continuous quadruped jumping","author":"Bellegarda","year":"2024"},{"key":"bbae98cdbib84","first-page":"4559","type":"conference-proceedings","article-title":"Feedback control of a cassie bipedal robot: walking, standing and riding a segway","author":"Gong","year":"2019"},{"key":"bbae98cdbib85","doi-asserted-by":"publisher","first-page":"6471","DOI":"10.1109\/LRA.2022.3174367","type":"journal-article","article-title":"Validating robotics simulators on real-world impacts","volume":"7","author":"Acosta","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"key":"bbae98cdbib86","first-page":"6295","type":"conference-proceedings","article-title":"Mini Cheetah: a platform for pushing the limits of dynamic quadruped control","author":"Katz","year":"2019"},{"key":"bbae98cdbib87","article-title":"Real-time optimal landing control of the MIT mini Cheetah","author":"Jeon","year":"2021","type":"preprint"},{"key":"bbae98cdbib88","first-page":"5136","type":"conference-proceedings","article-title":"Robust feedback motion policy design using reinforcement learning on a 3D digit bipedal robot","author":"Castillo","year":"2021"},{"key":"bbae98cdbib89","first-page":"269","type":"conference-proceedings","article-title":"Artemis: an open-source, full-sized humanoid robot for dynamic locomotion","author":"Zhu","year":"2025"},{"key":"bbae98cdbib90","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/259570","type":"journal-article","article-title":"Foot placement modification for a biped humanoid robot with narrow feet","volume":"2014","author":"Hashimoto","year":"2014","journal-title":"Sci. World J."},{"key":"bbae98cdbib91","doi-asserted-by":"publisher","first-page":"141","DOI":"10.1016\/j.jphysparis.2009.07.008","type":"journal-article","article-title":"Humanoid robot lola: design and walking control","volume":"103","author":"Buschmann","year":"2009","journal-title":"J. Physiol. Paris"},{"key":"bbae98cdbib92","doi-asserted-by":"publisher","first-page":"658","DOI":"10.1109\/TMECH.2009.2032079","type":"journal-article","article-title":"System design and control of anthropomorphic walking robot lola","volume":"14","author":"Lohmeier","year":"2009","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"bbae98cdbib93","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419897472","type":"journal-article","article-title":"A force-control scheme for biped robots to walk over uneven terrain including partial footholds","volume":"17","author":"Sygulla","year":"2020","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"bbae98cdbib94","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/11\/4\/046003","type":"journal-article","article-title":"A new biarticular actuator design facilitates control of leg function in biobiped3","volume":"11","author":"Sharbafi","year":"2016","journal-title":"Bioinsp. Biomim."},{"key":"bbae98cdbib95","doi-asserted-by":"publisher","first-page":"1125","DOI":"10.1016\/j.neunet.2010.08.010","type":"journal-article","article-title":"The iCub humanoid robot: an open-systems platform for research in cognitive development","volume":"23","author":"Metta","year":"2010","journal-title":"Neural Netw."},{"key":"bbae98cdbib96","article-title":"Control of contact forces using whole-body force and tactile sensors: theory and implementation on the iCub humanoid robot","author":"Del Prete","year":"2013","type":"other"},{"key":"bbae98cdbib97","doi-asserted-by":"publisher","first-page":"9318","DOI":"10.1109\/LRA.2022.3188122","type":"journal-article","article-title":"Tello leg: the study of design principles and metrics for dynamic humanoid robots","volume":"7","author":"Sim","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"key":"bbae98cdbib98","first-page":"8547","type":"conference-proceedings","article-title":"Design and control of a miniature bipedal robot with proprioceptive actuation for dynamic behaviors","author":"Liu","year":"2022"},{"key":"bbae98cdbib99","doi-asserted-by":"publisher","first-page":"eabg4055","DOI":"10.1126\/scirobotics.abg4055","type":"journal-article","article-title":"BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching","volume":"7","author":"Badri-Spr\u00f6witz","year":"2022","journal-title":"Sci. Robot."},{"key":"bbae98cdbib100","doi-asserted-by":"publisher","first-page":"2559","DOI":"10.1242\/jeb.201.18.2559","type":"journal-article","article-title":"Locomotion in alligator mississippiensis: kinematic effects of speed and posture and their relevance to the sprawling-to-erect paradigm","volume":"201","author":"Reilly","year":"1998","journal-title":"J. Exp. Biol."},{"key":"bbae98cdbib101","doi-asserted-by":"publisher","first-page":"1213","DOI":"10.1111\/brv.12280","type":"journal-article","article-title":"A phenology of the evolution of endothermy in birds and mammals","volume":"92","author":"Lovegrove","year":"2017","journal-title":"Biol. Rev."},{"key":"bbae98cdbib102","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1016\/j.resp.2004.06.018","type":"journal-article","article-title":"Reconstructing the evolution of the respiratory apparatus in tetrapods","volume":"144","author":"Perry","year":"2004","journal-title":"Respir. Physiol. Neurobiol."},{"key":"bbae98cdbib103","author":"Hildebrand","year":"1985","type":"book"},{"key":"bbae98cdbib104","first-page":"245","type":"book","article-title":"Limbs in mammalian evolution","author":"Polly","year":"2007"},{"key":"bbae98cdbib105","doi-asserted-by":"publisher","first-page":"103","DOI":"10.1007\/BF01041590","type":"journal-article","article-title":"Were there mammalian pursuit predators in the tertiary? dances with wolf avatars","volume":"1","author":"Janis","year":"1993","journal-title":"J. Mammal. Evol."},{"key":"bbae98cdbib106","doi-asserted-by":"publisher","first-page":"703","DOI":"10.1093\/icb\/38.4.703","type":"journal-article","article-title":"Muscle function in vivo: a comparison of muscles used for elastic energy savings versus muscles used to generate mechanical power","volume":"38","author":"Biewener","year":"1998","journal-title":"Am. Zool."},{"key":"bbae98cdbib107","doi-asserted-by":"publisher","first-page":"256","DOI":"10.1038\/s41597-020-00599-8","type":"journal-article","article-title":"A global map of terrestrial habitat types","volume":"7","author":"Jung","year":"2020","journal-title":"Sci. Data"},{"key":"bbae98cdbib108","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1016\/S0749-0739(03)00027-0","type":"journal-article","article-title":"Hoof capsule distortion: understanding the mechanisms as a basis for rational management","volume":"19","author":"Redden","year":"2003","journal-title":"Vet. Clin. Equine Pract."},{"key":"bbae98cdbib109","doi-asserted-by":"publisher","first-page":"73","DOI":"10.1046\/j.1439-0442.2000.00263.x","type":"journal-article","article-title":"The effect of flat horseshoes, raised heels and lowered heels on the biomechanics of the equine hoof assessed by finite element analysis (FEA)","volume":"47","author":"Hinterhofer","year":"2000","journal-title":"J. Vet. Med. A"},{"key":"bbae98cdbib110","doi-asserted-by":"publisher","first-page":"719","DOI":"10.2746\/042516402776250388","type":"journal-article","article-title":"Analysis of strain and stress in the equine hoof capsule using finite element methods: comparison with principal strains recorded in vivo","volume":"34","author":"Thomason","year":"2002","journal-title":"Equine Vet. J."},{"key":"bbae98cdbib111","doi-asserted-by":"publisher","first-page":"67","DOI":"10.1055\/s-0038-1632762","type":"journal-article","article-title":"Isolating the effects of equine hoof shape measurements on capsule strain with finite element analysis","volume":"16","author":"McClinchey","year":"2003","journal-title":"Vet. Comp. Orthop. Traumatol."},{"key":"bbae98cdbib112","doi-asserted-by":"publisher","first-page":"262","DOI":"10.1016\/j.biosystemseng.2010.08.010","type":"journal-article","article-title":"Analysis of strain and stress in the equine hoof using finite element analysis: comparison with minimum principal strains recorded in vivo","volume":"107","author":"Salo","year":"2010","journal-title":"Biosyst. Eng."},{"key":"bbae98cdbib113","doi-asserted-by":"publisher","first-page":"219","DOI":"10.2746\/042516409X395688","type":"journal-article","article-title":"Thirty-two component finite element models of a horse and donkey digit","volume":"41","author":"Collins","year":"2009","journal-title":"Equine Vet. J."},{"key":"bbae98cdbib114","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1080\/00480169.2005.36501","type":"journal-article","article-title":"A finite element model of the bovine claw under static load for evaluation of different flooring conditions","volume":"53","author":"Hinterhofer","year":"2005","journal-title":"N.Z. Vet. J."},{"key":"bbae98cdbib115","doi-asserted-by":"publisher","first-page":"155","DOI":"10.3168\/jds.S0022-0302(06)72079-3","type":"journal-article","article-title":"Slatted floors and solid floors: stress and strain on the bovine hoof capsule analyzed in finite element analysis","volume":"89","author":"Hinterhofer","year":"2006","journal-title":"J. Dairy Sci."},{"key":"bbae98cdbib116","doi-asserted-by":"publisher","first-page":"972","DOI":"10.3168\/jds.2008-1605","type":"journal-article","article-title":"Development of a twenty-one-component finite element distal hind limb model: stress and strain in bovine digit structures as a resultof loading on different floorings","volume":"92","author":"Hinterhofer","year":"2009","journal-title":"J. Dairy Sci."},{"key":"bbae98cdbib117","doi-asserted-by":"publisher","first-page":"363","DOI":"10.3389\/fbioe.2020.00363","type":"journal-article","article-title":"The passive contact stability of blue sheep hoof based on structure, mechanical properties and surface morphology","volume":"8","author":"Kui","year":"2020","journal-title":"Front. Bioeng. Biotechnol."},{"key":"bbae98cdbib118","doi-asserted-by":"publisher","first-page":"895","DOI":"10.1038\/414895a","type":"journal-article","article-title":"Horses damp the spring in their step","volume":"414","author":"Wilson","year":"2001","journal-title":"Nature"},{"key":"bbae98cdbib119","doi-asserted-by":"publisher","first-page":"102","DOI":"10.5772\/58474","type":"journal-article","article-title":"On the necessity of including joint passive dynamics in the impedance control of robotic legs","volume":"11","author":"Arevalo","year":"2014","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"bbae98cdbib120","doi-asserted-by":"publisher","first-page":"130","DOI":"10.1152\/japplphysiol.01090.2006","type":"journal-article","article-title":"Compliance, actuation and work characteristics of the goat foreleg and hindleg during level, uphill and downhill running","volume":"104","author":"Lee","year":"2008","journal-title":"J. Appl. Physiol."},{"key":"bbae98cdbib121","doi-asserted-by":"publisher","first-page":"2201","DOI":"10.1242\/jeb.082495","type":"journal-article","article-title":"Modulation of joint moments and work in the goat hindlimb with locomotor speed and surface grade","volume":"216","author":"Arnold","year":"2013","journal-title":"J. Exp. Biol."},{"key":"bbae98cdbib122","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2015\/151686","type":"journal-article","article-title":"Terrain adaptability mechanism of large ruminants\u2019 feet on the kinematics view","volume":"2015","author":"Zhang","year":"2015","journal-title":"Appl. Bionics Biomech."},{"key":"bbae98cdbib123","doi-asserted-by":"publisher","first-page":"407","DOI":"10.1242\/bio.023630","type":"journal-article","article-title":"Investigation of feet functions of large ruminants with a decoupled model of equivalent mechanism","volume":"6","author":"Zhang","year":"2017","journal-title":"Biol. Open"},{"key":"bbae98cdbib124","first-page":"211","type":"journal-article","article-title":"Research on distribution, living environment and protection of wild Bactrian camel (camelus bactrianus ferus)","volume":"15","author":"Li","year":"2008","journal-title":"J. Camel. Pract. Res."},{"key":"bbae98cdbib125","doi-asserted-by":"crossref","first-page":"345","DOI":"10.19182\/remvt.9619","type":"journal-article","article-title":"Types and breeds of the Chinese Bactrian camel (camelus baetrianus)","volume":"51","author":"Zhao.","year":"1998","journal-title":"Rev. D Elev. Med. Vet. Pays Trop."},{"key":"bbae98cdbib126","article-title":"Camel","author":"Herbison","year":"2025","type":"other"},{"key":"bbae98cdbib127","article-title":"Saiga tatarica (saiga antelope)","author":"Animal Diversity Web","year":"2025","type":"other"},{"key":"bbae98cdbib128","doi-asserted-by":"publisher","first-page":"1","DOI":"10.2307\/3503906","type":"journal-article","article-title":"Saiga tatarica","volume":"38","author":"Sokolov","year":"1974","journal-title":"Mamm. Species"},{"key":"bbae98cdbib129","doi-asserted-by":"publisher","first-page":"1","DOI":"10.22353\/mjbs.2024.22.04","type":"journal-article","article-title":"Ecology and conservation of the endangered Mongolian Saiga (Saiga tatarica Mongolica)","volume":"22","author":"Chimeddorj","year":"2024","journal-title":"Sciences"},{"key":"bbae98cdbib130","doi-asserted-by":"publisher","first-page":"32","DOI":"10.1111\/ahe.12596","type":"journal-article","article-title":"Osteomorphological features of the hind limb bones of Saiga antelope (Saiga tatarica)","volume":"50","author":"Jing","year":"2021","journal-title":"Anat. Histol. Embryol."},{"key":"bbae98cdbib131","doi-asserted-by":"publisher","first-page":"346","DOI":"10.1111\/j.1469-7998.2006.00148.x","type":"journal-article","article-title":"Macroscopic anatomy of the omasum of free-ranging moose (alces alces) and muskoxen (ovibos moschatus) and a comparison of the omasal laminal surface area in 34 ruminant species","volume":"270","author":"Clauss","year":"2006","journal-title":"J. Zool."},{"key":"bbae98cdbib132","article-title":"Ovibos moschatus (muskox)","author":"Elder","year":"2005","type":"other"},{"key":"bbae98cdbib133","article-title":"Animal genetic resources of the USSR","author":"Zabrodin","year":"1989","type":"book"},{"key":"bbae98cdbib134","author":"Ralf\u2019s Wildlife & Wild Places","type":"book"},{"key":"bbae98cdbib135","doi-asserted-by":"publisher","first-page":"1","DOI":"10.20315\/ASetL.102.1","type":"journal-article","article-title":"Reproductive potential of roe deer (capreolus capreolus l.): review of the most important influential factors","volume":"102","author":"Flaj\u0161man","year":"2013","journal-title":"Acta Silvae et Ligni"},{"key":"bbae98cdbib136","article-title":"Capreolus capreolus (European roe deer)","author":"Animal Diversity Web","type":"other"},{"key":"bbae98cdbib137","doi-asserted-by":"publisher","first-page":"282","DOI":"10.1111\/ahe.12268","type":"journal-article","article-title":"Gross measurements of the digestive tract and visceral organs of addax antelope (addax nasomaculatus) following a concentrate or forage feeding regime","volume":"46","author":"Tahas","year":"2017","journal-title":"Anat. Histol. Embryol."},{"key":"bbae98cdbib138","doi-asserted-by":"publisher","first-page":"142","DOI":"10.1016\/j.cbpa.2007.11.001","type":"journal-article","article-title":"Fluid and particle retention in the digestive tract of the addax antelope (addax nasomaculatus)\u2014adaptations of a grazing desert ruminant","volume":"149","author":"Hummel","year":"2008","journal-title":"Comp. Biochem. Physiol. A"},{"key":"bbae98cdbib139","article-title":"Addax nasomaculatus","author":"Altan","year":"2000","type":"other"},{"key":"bbae98cdbib140","first-page":"23","type":"journal-article","article-title":"Notes on addax nasomaculatus (de blainville, 1816)","volume":"31","author":"Dolan","year":"1966","journal-title":"Zeitschrift f\u00fcr S\u00e4ugetierkunde"},{"key":"bbae98cdbib141","doi-asserted-by":"publisher","first-page":"2301","DOI":"10.1242\/jeb.204.13.2301","type":"journal-article","article-title":"Seasonal variation in energy expenditure, water flux and food consumption of Arabian oryx Oryx leucoryx","volume":"204","author":"Williams","year":"2001","journal-title":"J. Exp. Biol."},{"key":"bbae98cdbib142","doi-asserted-by":"publisher","first-page":"437","DOI":"10.1007\/s00360-011-0620-0","type":"journal-article","article-title":"Does size matter? Comparison of body temperature and activity of free-living Arabian oryx (Oryx leucoryx) and the smaller Arabian sand gazelle (Gazella subgutturosa marica) in the saudi desert","volume":"182","author":"Hetem","year":"2012","journal-title":"J. Comp. Physiol. B"},{"key":"bbae98cdbib143","doi-asserted-by":"publisher","first-page":"665","DOI":"10.1644\/1545-1542(2002)0832.0.CO;2","type":"journal-article","article-title":"Water influx and food consumption of free-living oryxes (Oryx leucoryx) in the Arabian desert in summer","volume":"83","author":"Ostrowski","year":"2002","journal-title":"J. Mammal."},{"key":"bbae98cdbib144","doi-asserted-by":"publisher","first-page":"103","DOI":"10.1111\/j.1365-2028.1963.tb00181.x","type":"journal-article","article-title":"The Arabian oryx (Oryx leucoryx pallas)","volume":"1","author":"Stewart","year":"1963","journal-title":"Afr. J. Ecol."},{"key":"bbae98cdbib145","doi-asserted-by":"publisher","first-page":"1003","DOI":"10.1007\/s11250-018-1771-8","type":"journal-article","article-title":"Comparison of body weight estimation equations for camels (Camelus dromedarius)","volume":"51","author":"Boujenane","year":"2019","journal-title":"Trop. Anim. Health Prod."},{"key":"bbae98cdbib146","doi-asserted-by":"publisher","first-page":"113","DOI":"10.1007\/s12565-014-0242-1","type":"journal-article","article-title":"Metrical analysis of dromedary digital bones","volume":"90","author":"Nourinezhad","year":"2015","journal-title":"Anat. Sci. Int."},{"key":"bbae98cdbib147","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1186\/s40850-022-00151-8","type":"journal-article","article-title":"3D render volume CT reconstruction of the bones and arteries of the hind digit of the dromedary camel (Camelus dromedarius)","volume":"7","author":"El-Gendy","year":"2022","journal-title":"BMC Zool."},{"key":"bbae98cdbib148","doi-asserted-by":"publisher","first-page":"67","DOI":"10.1111\/j.1469-7998.1974.tb03144.x","type":"journal-article","article-title":"The locomotion of the camel (Camelus dromedarius)","volume":"174","author":"Dagg","year":"1974","journal-title":"J. Zool."},{"key":"bbae98cdbib149","first-page":"1061","type":"book","article-title":"Mountain Goat","author":"C\u00f4t\u00e9","year":"2003","edition":"2nd edn"},{"key":"bbae98cdbib150","doi-asserted-by":"publisher","first-page":"95","DOI":"10.56093\/ijans.v93i1.127152","type":"journal-article","article-title":"Assessment of phenotype, its correlations and prediction of live body weight in goat (Capra hircus) raised under hot semi-arid region of india","volume":"93","author":"Dongre","year":"2023","journal-title":"Indian J. Animal Sci."},{"key":"bbae98cdbib151","article-title":"Definitive guide to domestic goat facts, habitat, conservation status, pictures","author":"Zoo-Guide","year":"2025","type":"other"},{"key":"bbae98cdbib152","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1007\/s00442-008-1198-4","type":"journal-article","article-title":"Temperature constraints on foraging behaviour of male alpine ibex (Capra ibex) in summer","volume":"159","author":"Aublet","year":"2009","journal-title":"Oecologia"},{"key":"bbae98cdbib153","doi-asserted-by":"publisher","first-page":"173","DOI":"10.4000\/paleo.2862","type":"journal-article","article-title":"Distinctive features of Ovis aries and Capra hircus petrosal parts of temporal bone: applications of the features to the distinction of some other Caprinae (Capra ibex, rupicapra rupicapra)","volume":"24","author":"Mallet","year":"2013","journal-title":"PALEO. Rev. Arch\u00e9ol. Pr\u00e9hist."},{"key":"bbae98cdbib154","doi-asserted-by":"publisher","first-page":"1","DOI":"10.2307\/3503993","type":"journal-article","article-title":"Pseudois nayaur and pseudois schaeferi","volume":"278","author":"Wang","year":"1987","journal-title":"Mamm. Species"},{"key":"bbae98cdbib155","author":"Schaller","year":"2000","type":"book"},{"key":"bbae98cdbib156","article-title":"Pantholops hodgsonii","author":"Ultimate Ungulate","year":"2024","type":"other"},{"key":"bbae98cdbib157","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1016\/j.smallrumres.2018.07.013","type":"journal-article","article-title":"Morphometric evaluation of the growth of alpacas (vicugna pacos) from birth to 36 months of age","volume":"166","author":"Grund","year":"2018","journal-title":"Small Rumin. Res."},{"key":"bbae98cdbib158","first-page":"207","type":"book","article-title":"Musculoskeletal anatomy and ambulation","author":"Anderson","year":"2013"},{"key":"bbae98cdbib159","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1111\/j.1469-7998.2010.00763.x","type":"journal-article","article-title":"Temporal gait parameters in the alpaca and the evolution of pacing and trotting locomotion in the camelidae","volume":"283","author":"Pfau","year":"2011","journal-title":"J. Zool."},{"key":"bbae98cdbib160","author":"Bromage","year":"2013","type":"book"},{"key":"bbae98cdbib161","doi-asserted-by":"publisher","first-page":"52","DOI":"10.1016\/j.smallrumres.2019.04.002","type":"journal-article","article-title":"Biometric characteristics in vicu\u00f1as (vicugna vicugna mensalis)","volume":"175","author":"Ccora","year":"2019","journal-title":"Small Rumin. Res."},{"key":"bbae98cdbib162","doi-asserted-by":"publisher","author":"Acebes","year":"2018","DOI":"10.2305\/IUCN.UK.2018-2.RLTS.T22956A18540534.en","type":"other"},{"key":"bbae98cdbib163","doi-asserted-by":"publisher","first-page":"157","DOI":"10.1111\/j.1365-2907.2006.00084.x","type":"journal-article","article-title":"Taxonomic and biogeographical status of guanacoLama guanicoe (artiodactyla, camelidae)","volume":"36","author":"Gonzalez","year":"2006","journal-title":"Mamm. Rev."},{"key":"bbae98cdbib164","first-page":"11","type":"conference-proceedings","article-title":"Lama (Lama glama L.) and guanaco (Lama guanicoe M.): general perspective","author":"Campero","year":"2005"},{"key":"bbae98cdbib165","doi-asserted-by":"publisher","first-page":"331","DOI":"10.1002\/jmor.20343","type":"journal-article","article-title":"Macroscopic and histological investigation of guanaco footpads (Lama guanicoe, M\u00fcller 1776)","volume":"276","author":"K\u00f6nig","year":"2015","journal-title":"J. Morphol."},{"key":"bbae98cdbib166","doi-asserted-by":"publisher","first-page":"evae085","DOI":"10.1093\/gbe\/evae085","type":"journal-article","article-title":"History of diversification and adaptation from north to south revealed by genomic data: guanacos from the desert to sub-Antarctica","volume":"16","author":"Le\u00f3n","year":"2024","journal-title":"Genome Biol. Evol."},{"key":"bbae98cdbib167","article-title":"Alpacas and llamas (and other camelids)\u2014standard operating procedure","author":"Queensland Schools Animal Ethics Committee","year":"2023","type":"other"},{"key":"bbae98cdbib168","doi-asserted-by":"publisher","first-page":"543","DOI":"10.4067\/S0717-95022008000300006","type":"journal-article","article-title":"The suspensory apparatus and digital flexor muscles of the Llama (Lasna glama) 1. the thoracic limb","volume":"26","author":"Constantinescu","year":"2008","journal-title":"Int. J. Morphol."},{"key":"bbae98cdbib169","author":"McCracken","year":"2013","type":"book"},{"key":"bbae98cdbib170","first-page":"499","type":"journal-article","article-title":"Case of tuberculosis in a defassa waterbuck (kobus ellipsiprymnus defassa)","volume":"67","author":"Kalicki","year":"2011","journal-title":"Medycyna Wet."},{"key":"bbae98cdbib171","doi-asserted-by":"publisher","DOI":"10.1155\/2022\/3835444","type":"journal-article","article-title":"Population ecology and possible threats to defassa waterbuck (kobus ellipsiprymnus defassa) in the nechsar national park, ethiopia","volume":"2022","author":"Demisse","year":"2022","journal-title":"Int. J. Zool."},{"key":"bbae98cdbib172","first-page":"14872","author":"Furstenburg","year":"2015","type":"book"},{"key":"bbae98cdbib173","doi-asserted-by":"publisher","first-page":"1","DOI":"10.2307\/3504311","type":"journal-article","article-title":"Blastocerus dichotomus","volume":"380","author":"Pinder","year":"1991","journal-title":"Mamm. Species"},{"key":"bbae98cdbib174","doi-asserted-by":"publisher","first-page":"596","DOI":"10.1638\/2005-056.1","type":"journal-article","article-title":"A technique for the capture of free-ranging marsh deer (blastocerus dichotomus)","volume":"39","author":"Duarte","year":"2008","journal-title":"J. Zoo Wildlife Med."},{"key":"bbae98cdbib175","doi-asserted-by":"publisher","first-page":"997","DOI":"10.1590\/S0100-736X2015001200009","type":"journal-article","article-title":"Osteology and radiographic anatomy of the hind limbs in marshdeer (blastocerus dichotomus)","volume":"35","author":"Schimming","year":"2015","journal-title":"Pesqui. Vet. Bras."},{"key":"bbae98cdbib176","article-title":"Blastocerus dichotomus","author":"Ultimate Ungulate","type":"other"},{"key":"bbae98cdbib177","doi-asserted-by":"publisher","first-page":"108","DOI":"10.19227\/jzar.v13i2.905","type":"journal-article","article-title":"Body mass of adult zoo hippos hippopotamidae and how they compare to data from populations in the wild","volume":"13","author":"Meireles","year":"2025","journal-title":"J. Zoo Aquar. Res."},{"key":"bbae98cdbib178","doi-asserted-by":"publisher","first-page":"191","DOI":"10.1111\/mam.12056","type":"journal-article","article-title":"Carnivory in the common hippopotamus H ippopotamus amphibius: implications for the ecology and epidemiology of anthrax in African landscapes","volume":"46","author":"Dudley","year":"2016","journal-title":"Mamm. Rev."},{"key":"bbae98cdbib179","doi-asserted-by":"publisher","first-page":"1509","DOI":"10.1111\/brv.12960","type":"journal-article","article-title":"Are hippos Africa\u2019s most influential megaherbivore? A review of ecosystem engineering by the semi-aquatic common hippopotamus","volume":"98","author":"Voysey","year":"2023","journal-title":"Biol. Rev."},{"key":"bbae98cdbib180","doi-asserted-by":"publisher","first-page":"661","DOI":"10.1111\/j.1096-3642.2009.00558.x","type":"journal-article","article-title":"Hind limb myology of the common hippopotamus, hippopotamus amphibius (artiodactyla: hippopotamidae)","volume":"158","author":"Fisher","year":"2010","journal-title":"Zool. J. Linnean Soc."},{"key":"bbae98cdbib181","doi-asserted-by":"publisher","first-page":"236","DOI":"10.1111\/j.1469-7998.2009.00611.x","type":"journal-article","article-title":"Scaling of plantar pressures in mammals","volume":"279","author":"Michilsens","year":"2009","journal-title":"J. Zool."},{"key":"bbae98cdbib182","author":"Strickson","year":"2020","type":"book"},{"key":"bbae98cdbib183","author":"Williams","year":"2017","type":"book"},{"key":"bbae98cdbib184","author":"Alaska Department of Fish and Game","year":"2008","type":"book"},{"key":"bbae98cdbib185","doi-asserted-by":"publisher","first-page":"298","DOI":"10.1139\/z78-040","type":"journal-article","article-title":"Alaskan moose measurements and weights and measurement\u2013weight relationships","volume":"56","author":"Franzmann","year":"1978","journal-title":"Can. J. Zool."},{"key":"bbae98cdbib186","article-title":"Moose\u2014wildlife\/mammals","author":"Hinterland Who\u2019s Who","type":"other"},{"key":"bbae98cdbib187","doi-asserted-by":"publisher","first-page":"648","DOI":"10.1111\/aec.12708","type":"journal-article","article-title":"Grass greenness and grass height promote the resource partitioning among reintroduced Burchell\u2019s zebra and blue wildebeest in southern Mozambique","volume":"44","author":"Mandlate","year":"2019","journal-title":"Austral Ecol."},{"key":"bbae98cdbib188","article-title":"Blue wildebeest\/brindled gnu Connochaetes taurinus (Burchell, 1823)","author":"Furstenburg","type":"other"},{"key":"bbae98cdbib189","first-page":"231","type":"book","article-title":"The pronghorn (antilocapra americana)","author":"O\u2019Gara","year":"1990"},{"key":"bbae98cdbib190","first-page":"125","type":"conference-proceedings","article-title":"A comparison of pronghorn body measurements throughout western north America","volume":"vol 22","author":"Brown","year":"2006"},{"key":"bbae98cdbib191","doi-asserted-by":"publisher","first-page":"83","DOI":"10.1016\/j.quaint.2017.11.011","type":"journal-article","article-title":"Social boundaries, territoriality and the cultural ecology of artiodactyl hunting in prehistoric central California","volume":"518","author":"Whitaker","year":"2019","journal-title":"Quat. Int."},{"key":"bbae98cdbib192","first-page":"221","type":"book","article-title":"The Prong-Horned Antelope in California","volume":"vol 30","author":"McLean","year":"1944"},{"key":"bbae98cdbib193","doi-asserted-by":"publisher","first-page":"240","DOI":"10.1111\/joa.14041","type":"journal-article","article-title":"Estimation of the forces exerted on the limb long bones of a white rhinoceros (Ceratotherium simum) using musculoskeletal modelling and simulation","volume":"245","author":"Etienne","year":"2024","journal-title":"J. Anat."},{"key":"bbae98cdbib194","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1111\/j.1469-7998.1992.tb04344.x","type":"journal-article","article-title":"Locomotion and bone strength of the white rhinoceros, Ceratotherium simum","volume":"227","author":"Alexander","year":"1992","journal-title":"J. Zool."},{"key":"bbae98cdbib195","doi-asserted-by":"publisher","first-page":"124","DOI":"10.1111\/vru.12215","type":"journal-article","article-title":"Radiographic protocol and normal anatomy of the hind feet in the white rhinoceros (Ceratotherium simum)","volume":"56","author":"Dudley","year":"2015","journal-title":"Vet. Radiol. Ultrasound"},{"key":"bbae98cdbib196","doi-asserted-by":"publisher","first-page":"e6881","DOI":"10.7717\/peerj.6881","type":"journal-article","article-title":"Foot pressure distribution in white rhinoceroses (Ceratotherium simum) during walking","volume":"7","author":"Panagiotopoulou","year":"2019","journal-title":"PeerJ"},{"key":"bbae98cdbib197","doi-asserted-by":"publisher","first-page":"529","DOI":"10.1016\/j.cveq.2021.07.002","type":"journal-article","article-title":"Anatomy and physiology of the equine foot","volume":"37","author":"Gerard","year":"2021","journal-title":"Vet. Clin.: Equine Pract."},{"key":"bbae98cdbib198","doi-asserted-by":"publisher","first-page":"2230","DOI":"10.2527\/jas.2013-6689","type":"journal-article","article-title":"Estimation of body weight and development of a body weight score for adult equids using morphometric measurements","volume":"92","author":"Martinson","year":"2014","journal-title":"J. Animal Sci."},{"key":"bbae98cdbib199","doi-asserted-by":"publisher","first-page":"632","DOI":"10.1136\/vr.150.20.632","type":"journal-article","article-title":"Use of height-specific weigh tapes to estimate the bodyweight of horses","volume":"150","author":"Ellis","year":"2002","journal-title":"Vet. Rec."},{"key":"bbae98cdbib200","doi-asserted-by":"publisher","first-page":"19","DOI":"10.5772\/intechopen.84514","type":"book","article-title":"The anatomy, histology and physiology of the healthy and lame equine hoof","author":"Al-Agele","year":"2019"},{"key":"bbae98cdbib201","author":"Heywood","year":"2022","type":"book"},{"key":"bbae98cdbib202","first-page":"479","type":"book","article-title":"Exploring height estimations of past and present equus from metapodial dimensions","volume":"vol 61","author":"Niskanen","year":"2024"},{"key":"bbae98cdbib203","article-title":"Equus zebra (mountain zebra)","author":"Animal Diversity Web","type":"other"},{"key":"bbae98cdbib204","first-page":"287","type":"journal-article","article-title":"Preliminary data regarding the conformation aspects of sus scrofa ferus wild boar populations from Transylvania\u2013Romania","volume":"67","author":"Oroian","year":"2010","journal-title":"Bull. UASVM Anim. Sci. Biotechnol."},{"key":"bbae98cdbib205","first-page":"39","type":"journal-article","article-title":"Biometric data in wild boar (sus scrofa ferus) populations from transylvania over 3 years of age","volume":"2","author":"Oroian","year":"2012","journal-title":"Porc. Res."},{"key":"bbae98cdbib206","first-page":"292","type":"book","article-title":"Integumentary system: skin, hoof and claw","author":"Torrison","year":"2019"},{"key":"bbae98cdbib207","first-page":"239","type":"book","article-title":"Land-living mammals","author":"Preuschoft","year":"2022"},{"key":"bbae98cdbib208","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1644\/08-MAMM-A-038.1","type":"journal-article","article-title":"Niche partitioning among white-lipped peccaries (tayassu pecari), collared peccaries (pecari tajacu) and feral pigs (sus scrofa)","volume":"90","author":"Desbiez","year":"2009","journal-title":"J. Mammal."},{"key":"bbae98cdbib209","doi-asserted-by":"publisher","first-page":"1353","DOI":"10.1007\/s11250-017-1333-5","type":"journal-article","article-title":"Protein requirements of collared peccary (pecari tajacu)","volume":"49","author":"Borges","year":"2017","journal-title":"Trop. Anim. Health Prod."},{"key":"bbae98cdbib210","first-page":"377","type":"book","article-title":"Order artiodactyla, family tayassuidae (peccaries)","author":"Margarido","year":"2001"},{"key":"bbae98cdbib211","first-page":"23","type":"book","article-title":"Status and action plan of the malayan tapir (tapirus indicus)","author":"Khan","year":"1997"},{"key":"bbae98cdbib212","doi-asserted-by":"publisher","first-page":"1283","DOI":"10.1262\/jrd.19100","type":"journal-article","article-title":"Estrous cycle based on blood progesterone profiles and changes in vulvar appearance of Malayan tapirs (Tapirus indicus)","volume":"53","author":"Kusuda","year":"2007","journal-title":"J. Reprod. Dev."},{"key":"bbae98cdbib213","article-title":"Tapirus indicus (malayan tapir)","author":"Gearty","year":"2012","type":"other"},{"key":"bbae98cdbib214","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1111\/j.1365-2907.1973.tb00178.x","type":"journal-article","article-title":"The description of mammals\u20132 limbs and locomotion of terrestial mammals","volume":"3","author":"Brown","year":"1973","journal-title":"Mamm. Rev."},{"key":"bbae98cdbib215","article-title":"Taurotragus oryx (common Eland)","author":"Animal Diversity Web","year":"2025","type":"other"},{"key":"bbae98cdbib216","article-title":"The ecology of eland (taurotragus oryx) in the western transvaal highveld","author":"Buys","year":"1987","type":"other"},{"key":"bbae98cdbib217","article-title":"Animal facts \u2014 Eland","author":"MyWildlifeSA","year":"2025","type":"other"},{"key":"bbae98cdbib218","doi-asserted-by":"publisher","first-page":"1","DOI":"10.2307\/3503830","type":"journal-article","article-title":"Giraffa camelopardalis","volume":"5","author":"Dagg","year":"1971","journal-title":"Mammalian Species"},{"key":"bbae98cdbib219","first-page":"55","type":"journal-article","article-title":"Carcass composition of the giraffe Giraffa camelopardalis giraffa","volume":"7","author":"Hall-Martin","year":"1977","journal-title":"S. Afr. J. Anim. Sci."},{"key":"bbae98cdbib220","doi-asserted-by":"publisher","first-page":"673","DOI":"10.1638\/2020-0055","type":"journal-article","article-title":"Biomechanical variables of the foot in soundreticulated giraffes (Giraffa camelopardalis reticulata) in human care","volume":"55","author":"Muirhead","year":"2024","journal-title":"J. Zoo Wildlife Med."},{"key":"bbae98cdbib221","doi-asserted-by":"publisher","first-page":"439","DOI":"10.1080\/00288230809510473","type":"journal-article","article-title":"Amounts and distribution of mineral elements associated with liveweight gains of grazing red deer (cervus elaphus)","volume":"51","author":"Grace","year":"2008","journal-title":"N.Z. J. Agric. Res."},{"key":"bbae98cdbib222","article-title":"Cervus elaphus (red deer)","author":"Animal Diversity Web","type":"other"},{"key":"bbae98cdbib223","doi-asserted-by":"publisher","first-page":"153","DOI":"10.1111\/j.1469-7998.1983.tb04267.x","type":"journal-article","article-title":"The effect of winter nutrition on growth of young Scottish red deer (cervus elaphus)","volume":"201","author":"Suttie","year":"1983","journal-title":"J. Zool."},{"key":"bbae98cdbib224","doi-asserted-by":"publisher","first-page":"1","DOI":"10.2307\/3504153","type":"journal-article","article-title":"Okapia Johnstoni","volume":"422","author":"Bodmer","year":"1992","journal-title":"Mamm. Species"},{"key":"bbae98cdbib225","first-page":"509","type":"book","article-title":"XXV: Giraffidae","author":"Churcher","year":"1978"},{"key":"bbae98cdbib226","doi-asserted-by":"publisher","first-page":"e1439","DOI":"10.7717\/peerj.1439","type":"journal-article","article-title":"A critical survey of vestigial structures in the postcranial skeletons of extant mammals","volume":"3","author":"Senter","year":"2015","journal-title":"PeerJ"},{"key":"bbae98cdbib227","first-page":"625","type":"book","article-title":"Giraffidae","volume":"vol 5","author":"Bush","year":"2003"},{"key":"bbae98cdbib228","first-page":"p 602","type":"book","article-title":"Giraffidae","volume":"vol 8","author":"Bertelsen","year":"2014"},{"key":"bbae98cdbib229","doi-asserted-by":"publisher","first-page":"229","DOI":"10.1080\/00087114.2004.10589398","type":"journal-article","article-title":"Cytogenetic comparison of the lesser mouse deer (tragulus javanicus) and the greater mouse deer (t. napu)","volume":"57","author":"Kim","year":"2004","journal-title":"Caryologia"},{"key":"bbae98cdbib230","first-page":"213","type":"book","article-title":"Family tragulidae","author":"R\u00f6ssner","year":"2007"},{"key":"bbae98cdbib231","first-page":"89","type":"journal-article","article-title":"Skin, skull and skeleton characters of mouse deer (mammalia, tragulidae), with keys to the species","volume":"12","author":"Smit-van Dort","year":"1989","journal-title":"Bull. Zool. Mus."},{"key":"bbae98cdbib232","article-title":"Moschus moschiferus (Siberian musk deer)","author":"Animal Diversity Web","year":"2025","type":"other"},{"key":"bbae98cdbib233","article-title":"Moschus moschiferus (Siberian musk deer)","author":"Ultimate Ungulate","year":"2025","type":"other"},{"key":"bbae98cdbib234","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1115\/1.3140702","type":"journal-article","article-title":"Impedance control: an approach to manipulation","volume":"107","author":"Hogan","year":"1985","journal-title":"J. Dyn. Syst. Meas. Control"},{"key":"bbae98cdbib235","doi-asserted-by":"publisher","first-page":"3325","DOI":"10.1242\/jeb.202.23.3325","type":"journal-article","article-title":"Templates and anchors: neuromechanical hypotheses of legged locomotion on land","volume":"202","author":"Full","year":"1999","journal-title":"J. Exp. Biol."},{"key":"bbae98cdbib236","doi-asserted-by":"publisher","first-page":"1408","DOI":"10.1126\/science.1229163","type":"journal-article","article-title":"A terradynamics of legged locomotion on granular media","volume":"339","author":"Li","year":"2013","journal-title":"Science"},{"key":"bbae98cdbib237","doi-asserted-by":"publisher","DOI":"10.1088\/0034-4885\/79\/11\/110001","type":"journal-article","article-title":"A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems","volume":"79","author":"Aguilar","year":"2016","journal-title":"Rep. Prog. Phys."},{"key":"bbae98cdbib238","author":"Alexander","year":"1991","type":"book"},{"key":"bbae98cdbib239","doi-asserted-by":"publisher","first-page":"1829","DOI":"10.1242\/jeb.199.8.1829","type":"journal-article","article-title":"The modulus of elasticity of equine hoof wall: implications for the mechanical function of the hoof","volume":"199","author":"Douglas","year":"1996","journal-title":"J. Exp. Biol."},{"key":"bbae98cdbib240","doi-asserted-by":"publisher","first-page":"173","DOI":"10.1002\/cphy.cp120103","type":"journal-article","article-title":"Proprioceptive feedback and movement regulation","volume":"76","author":"Prochazka","year":"1996","journal-title":"Compr. Physiol."},{"key":"bbae98cdbib241","doi-asserted-by":"publisher","first-page":"15681","DOI":"10.1073\/pnas.0601473103","type":"journal-article","article-title":"Running over rough terrain reveals limb control for intrinsic stability","volume":"103","author":"Daley","year":"2006","journal-title":"Proc. Natl Acad. Sci."},{"key":"bbae98cdbib242","doi-asserted-by":"publisher","first-page":"236","DOI":"10.1177\/0278364910388677","type":"journal-article","article-title":"Learning, planning and control for quadruped locomotion over challenging terrain","volume":"30","author":"Kalakrishnan","year":"2011","journal-title":"Int. J. Robot. Res."},{"key":"bbae98cdbib243","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.105046","type":"journal-article","article-title":"A review on foot-ground contact modeling strategies for human motion analysis","volume":"177","author":"Saraiva","year":"2022","journal-title":"Mech. Mach. Theory"},{"key":"bbae98cdbib244","doi-asserted-by":"publisher","first-page":"271","DOI":"10.1146\/annurev.matsci.28.1.271","type":"journal-article","article-title":"The material bone: structure-mechanical function relations","volume":"28","author":"Weiner","year":"1998","journal-title":"Annu. Rev. Mater. Sci."},{"key":"bbae98cdbib245","author":"Currey","year":"2002","type":"book"}],"container-title":["Bioinspiration &amp; Biomimetics"],"original-title":[],"link":[{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae98cd","content-type":"text\/html","content-version":"am","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae98cd\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae98cd","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae98cd\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae98cd\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae98cd\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae98cd\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"similarity-checking"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae98cd\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,11]],"date-time":"2026-09-11T06:01:20Z","timestamp":1789106480000},"score":1,"resource":{"primary":{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae98cd"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9,11]]},"references-count":245,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2026,9,11]]},"published-print":{"date-parts":[[2026,10,30]]}},"URL":"https:\/\/doi.org\/10.1088\/1748-3190\/ae98cd","relation":{},"ISSN":["1748-3182","1748-3190"],"issn-type":[{"value":"1748-3182","type":"print"},{"value":"1748-3190","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,9,11]]},"assertion":[{"value":"Bioinspired hooves for robotics: structural, material, and functional insights","name":"article_title","label":"Article Title"},{"value":"Bioinspiration & Biomimetics","name":"journal_title","label":"Journal Title"},{"value":"paper","name":"article_type","label":"Article Type"},{"value":"\u00a9 2026 The Author(s). Published by IOP Publishing Ltd","name":"copyright_information","label":"Copyright Information"},{"value":"2026-03-03","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-08-12","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-09-11","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}