Frictional performance of ostrich (Struthio camelus) foot sole on sand in all directions

To study the ostrich (Struthio camelus) foot sole with an irregular surface and papillae, we designed a multi-angle device to measure its friction properties on sand. The observed macro- and micro-structures of the ostrich foot sole intensified friction by tightly gripping sand particles. The sliding friction of the ostrich foot on a single-layer sand board increased with the enlarging particle size. A loose sand all-direction test showed that the coefficient of friction (COF) of the ostrich foot sole was higher than that of the nonpapillary foot. The COF of the ostrich foot sole minimized to 0.30 at 0° and maximized to 0.61 at 180°, and that of the nonpapillary foot minimized to 0.23 at 300° and maximized to 0.54 at 180°, suggesting the ostrich papillae exerted a friction effect. Significant differences in COF were observed among the ranges 10°-40°, 90° and 120°-350°, indicating the papillae can steadily enhance the frictional performance. This study provides an important theoretical basis for the design of frictional robots for deep space exploration and other soft media.