Bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems
Navigating hazardous environments, such as areas with fire risks, wild animal activity, or inaccessible terrains, poses significant challenges, necessitating the development of bio-inspired robotic systems. This study focuses on the biomechanical design and kinematic analysis of a spider-mimicking r...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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Universitas Muhammadiyah Yogyakarta
2025
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| Online Access: | http://psasir.upm.edu.my/id/eprint/118723/ http://psasir.upm.edu.my/id/eprint/118723/1/118723.pdf |
| _version_ | 1848867582843551744 |
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| author | Singh, Spoorthi Zuber, Mohammad Bhat, Naman Kumar.S, Rathina Basri, Ernnie Illyani Ahmad, Kamarul Arifin Yadav, Manish Varun Hegde, Navya Thirumaleshwar |
| author_facet | Singh, Spoorthi Zuber, Mohammad Bhat, Naman Kumar.S, Rathina Basri, Ernnie Illyani Ahmad, Kamarul Arifin Yadav, Manish Varun Hegde, Navya Thirumaleshwar |
| author_sort | Singh, Spoorthi |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | Navigating hazardous environments, such as areas with fire risks, wild animal activity, or inaccessible terrains, poses significant challenges, necessitating the development of bio-inspired robotic systems. This study focuses on the biomechanical design and kinematic analysis of a spider-mimicking robot, specifically examining quad and hexa-legged configurations to optimize movement efficiency and stability. The research employed 3D Computer-Aided Design (CAD) in Fusion 360 to model and simulate the robot's leg framework, analyzing deformation, tension, and strain. Fused Deposition Modelling (FDM) with Poly Lactic Acid (PLA) material was used for component fabrication, chosen for its balance of lightweight properties and structural integrity, validated through stress analysis. A single limb’s forward and reverse kinematics were studied, enabling the development of optimized gait patterns. SIMSCAPE Multibody in MATLAB was utilized for dynamic simulations, and Proportional Derivative (PD) and Proportional Integral Derivative (PID) controllers were tested to evaluate trajectory tracking accuracy and stability. Results show that the six-legged configuration exhibits superior stability with a 15% improvement in gait cycle efficiency and a 20% reduction in energy consumption per stride compared to the four-legged counterpart. The use of PID controllers further enhanced performance, achieving a 12% improvement in settling time and reducing oscillations in trajectory tracking tasks. The choice of PLA material ensured durability under operational loads, with minimal deformation over repeated stress cycles. Servomotor selection and configuration were tailored to optimize torque and speed, enabling precise leg control. This study highlights the potential of bio-inspired robots to advance robotic mobility through optimized kinematics and material choices. |
| first_indexed | 2025-11-15T14:38:48Z |
| format | Article |
| id | upm-118723 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T14:38:48Z |
| publishDate | 2025 |
| publisher | Universitas Muhammadiyah Yogyakarta |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-1187232025-07-22T08:29:12Z http://psasir.upm.edu.my/id/eprint/118723/ Bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems Singh, Spoorthi Zuber, Mohammad Bhat, Naman Kumar.S, Rathina Basri, Ernnie Illyani Ahmad, Kamarul Arifin Yadav, Manish Varun Hegde, Navya Thirumaleshwar Navigating hazardous environments, such as areas with fire risks, wild animal activity, or inaccessible terrains, poses significant challenges, necessitating the development of bio-inspired robotic systems. This study focuses on the biomechanical design and kinematic analysis of a spider-mimicking robot, specifically examining quad and hexa-legged configurations to optimize movement efficiency and stability. The research employed 3D Computer-Aided Design (CAD) in Fusion 360 to model and simulate the robot's leg framework, analyzing deformation, tension, and strain. Fused Deposition Modelling (FDM) with Poly Lactic Acid (PLA) material was used for component fabrication, chosen for its balance of lightweight properties and structural integrity, validated through stress analysis. A single limb’s forward and reverse kinematics were studied, enabling the development of optimized gait patterns. SIMSCAPE Multibody in MATLAB was utilized for dynamic simulations, and Proportional Derivative (PD) and Proportional Integral Derivative (PID) controllers were tested to evaluate trajectory tracking accuracy and stability. Results show that the six-legged configuration exhibits superior stability with a 15% improvement in gait cycle efficiency and a 20% reduction in energy consumption per stride compared to the four-legged counterpart. The use of PID controllers further enhanced performance, achieving a 12% improvement in settling time and reducing oscillations in trajectory tracking tasks. The choice of PLA material ensured durability under operational loads, with minimal deformation over repeated stress cycles. Servomotor selection and configuration were tailored to optimize torque and speed, enabling precise leg control. This study highlights the potential of bio-inspired robots to advance robotic mobility through optimized kinematics and material choices. Universitas Muhammadiyah Yogyakarta 2025 Article PeerReviewed text en cc_by_nc_sa_4 http://psasir.upm.edu.my/id/eprint/118723/1/118723.pdf Singh, Spoorthi and Zuber, Mohammad and Bhat, Naman and Kumar.S, Rathina and Basri, Ernnie Illyani and Ahmad, Kamarul Arifin and Yadav, Manish Varun and Hegde, Navya Thirumaleshwar (2025) Bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems. Journal of Robotics and Control (JRC), 6 (2). pp. 757-768. ISSN 2715-5072; eISSN: 2715-5056 https://journal.umy.ac.id/index.php/jrc/article/view/23905 10.18196/jrc.v6i2.23905 |
| spellingShingle | Singh, Spoorthi Zuber, Mohammad Bhat, Naman Kumar.S, Rathina Basri, Ernnie Illyani Ahmad, Kamarul Arifin Yadav, Manish Varun Hegde, Navya Thirumaleshwar Bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems |
| title | Bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems |
| title_full | Bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems |
| title_fullStr | Bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems |
| title_full_unstemmed | Bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems |
| title_short | Bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems |
| title_sort | bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems |
| url | http://psasir.upm.edu.my/id/eprint/118723/ http://psasir.upm.edu.my/id/eprint/118723/ http://psasir.upm.edu.my/id/eprint/118723/ http://psasir.upm.edu.my/id/eprint/118723/1/118723.pdf |