Bio-Inspired Robotics: Kinematic and Gait Analysis of Quad and Hexa-Legged Systems

• DOI: 10.18196/jrc.v6i2.23905
• Publication Date: 2025-05-13T08:29:26Z
• Authors: Spoorthi Singh; Mohammad Zuber; Naman Bhat; Rathina Kumar.S; Ernnie Illyani Basri; Kamarul Arifin Ahmad; Manish Varun Yadav; Navya Thirumalesh...
• Keywords: HEXA

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 biomechanical design and kinematic analysis a spider-mimicking robot, specifically examining quad hexa-legged configurations to optimize movement efficiency stability. The research employed 3D Computer-Aided Design (CAD) in Fusion 360 model simulate robot's leg framework, analyzing deformation, tension, strain. Fused Deposition Modelling (FDM) Poly Lactic Acid (PLA) material was used for component fabrication, chosen its balance lightweight properties structural integrity, validated through stress analysis. A single limb’s forward reverse kinematics were studied, enabling optimized gait patterns. SIMSCAPE Multibody MATLAB utilized dynamic simulations, Proportional Derivative (PD) Integral (PID) controllers tested evaluate trajectory tracking accuracy Results show that six-legged configuration exhibits superior stability 15% improvement cycle 20% reduction energy consumption per stride compared four-legged counterpart. use PID further enhanced performance, achieving 12% settling time reducing oscillations tasks. choice PLA ensured durability under operational loads, minimal deformation over repeated cycles. Servomotor selection tailored torque speed, precise control. highlights potential robots advance mobility choices.