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Crocodiles, known as one of the oldest and most resilient species on Earth,have demonstrated remarkable locomotor abilities both on land and in water,evolving over millennia to adapt to diverse environments. In this paper, wedraw inspiration from crocodiles and introduce a highly biomimetic crocodilerobot equipped with multiple degrees of freedom and articulated trunk joints.This design is based on a comprehensive analysis of the structural and motioncharacteristics observed in real crocodiles. The bionic crocodile robot has theproblem of limb-torso incoordination during movement, in order to solve thisproblem, we apply the D-H method for both forward and inverse kinematicsanalysis of the robot's legs and spine. Through a series of simulationexperiments, we investigate the robot's stability of motion, fault tolerance,and adaptability to the environment in two motor pattern: with and without theinvolvement of the spine and tail in its movements. Experiment resultsdemonstrate that the bionic crocodile robot exhibits superior motionperformance when the spine and tail cooperate with the extremities. Thisresearch not only showcases the potential of biomimicry in robotics but alsounderscores the significance of understanding how nature's designs can informand enhance our technological innovations.

Structure design and coordinated motion analysis of bionic crocodile robot