Why not use a triplet instead of a single claw?

-- MicheleLanzetta? - 10 Jul 2004

Up to three rigidly connected spines/claws are intrinsecally compliant. They can act like a toe.
Open issues:

• How many toes on a foot?
• How to distribute loads among them?
• How are they connected?

Some demonstrators:

A claw can be replaced by a spine with the optimal hooking angle. Commercial pins inserted in balsa wood triangle (toe). A second piece of balsa wood (foot) is connected by tape, to only allow an "engaging" moment and compliance when the foot is not yet loaded.

Same version with smaller pins for lower roughness surfaces.

Curved pins make a claw. Here they are connected to form a rigid part.
(Sorry out of focus)