Ruminants live in various parts of land. Similar cloven hooves assist ruminants in adapting to different ground environment\nduring locomotion. This paper analyzes the general terrain adaptability of the feet of ruminants using kinematics of the equivalent\nmechanism model based on screw theory. Cloven hooves could adjust attitude by changing relative positions between two digits\nin swing phase. This function helps to choose better landing orientation. ââ?¬Å?Graspingââ?¬Â or ââ?¬Å?holdingââ?¬Â a rock or other object on the\nground passively provides extra adhesion force in stance phase. Ruminants could adjust the position of the metacarpophalangeal\njoint or metatarsophalangeal joint (MTP orMCP) with no relative motion between the tip of feet and the ground, which ensures the\nadhesion and dexterity in stance phase. These functions are derived from an example from chamoisââ?¬â?¢ feet and several assumptions,\nwhich are believed to demonstrate the foundation of adaptation of ruminants and ensure a stable and continuous movement.
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