Development of a Biomimetic Quadruped Robot Control System with Real-Time Sensor-Based Process Monitoring

Bioinspired robotics represents a rapidly advancing field in which locomotion strategies derived from biological organisms are applied to autonomous mechanical systems. This study presents the design, implementation, and experimental evaluation of a control system for a fox-inspired (Vulpes vulpes) quadruped biomimetic robot, with emphasis on real-time process monitoring and adaptive motion control. The mechanical structure was fabricated using 3D-printed ABS components incorporating eight SG90 servo actuators (two per limb), controlled by an Arduino Uno microcontroller. A hierarchical four-layer software architecture was developed in C++ and Python, covering low-level hardware drivers, sensor data processing, environmental perception and path planning, and behavioral decision-making. Two HC-SR04 ultrasonic sensors provided real-time obstacle detection. An LDR photoresistor enabled reactive behavioral triggering. Gait algorithms were developed based on slow-motion analysis of real fox locomotion patterns, implementing diagonal gait sequences that maintain three-point ground contact throughout the step cycle. Experimental evaluation across 100 test cycles demonstrated a task success rate of 98%. The system achieved positioning accuracy of ±2 cm along programmed trajectories and a control response latency of 120 ms. Energy consumption was measured at 45 Wh per kilometer in walking gait mode. Stability was maintained under external perturbations up to 3 N. Maximum control efficiency of 68% was observed during trot gait operation. The developed system confirms the feasibility of low-cost embedded control architectures for biomimetic locomotion processes. The proposed hierarchical control framework and sensor-integrated monitoring approach provide a practical basis for further development toward adaptive terrain classification and real-time gait parameter optimization, with potential applications in search-and-rescue operations and environmental monitoring.