From Imitation to Intelligence: Current Trends and Future Directions in Legged Bio-Inspired Robotics

Abstract

Legged bio-inspired robots have emerged as a promising solution for locomotion in unstructured and complex environments. By drawing inspiration from animal morphology and biomechanics, researchers have developed robotic systems capable of achieving agility, adaptability, and energy efficiency beyond the limits of traditional wheeled and tracked platforms. Advances in structural design, such as compliant spines and segmented legs, have enhanced gait stability and natural motion. At the same time, progress in control strategies—including model predictive control, central pattern generators, and reinforcement learning—has significantly improved adaptability and robustness. This paper presents recent developments in legged bio-inspired robotics, focusing on structural innovations, control approaches, and perception-driven adaptability. It also discusses the growing application domains of these systems, including disaster response, industrial inspection, and agricultural monitoring. Finally, the paper outlines current challenges and future research directions, highlighting the path toward intelligent, efficient, and reliable legged robots capable of operating in real-world environments.