Designing for Dynamics:Underactuation and Inertia as First Principles in Bipeda Robots

Revant Nitin Bhatt, Djona Christ-Medesse Dossou

Abstract: Legged robots often face limitations not due to algorithmic deficits but due to mechanical i that strain feedback control systems. This article proposes two foundational design principles: underactuation by design and design-to-inertia as essential strategies for scalable and efficient bipedal locomotion. By embedding stance-swing asymmetry and managing distal mass and re?ected inertia, the proposed approach shifts performance responsibility toward hardware-inherent behavior. The paper introduces four plant-level metrics: Re?ected Inertia Ratio (RIR), Distal Mass Fraction (DMF), Remote Actuation Index (RAI), and Energy Recycling Benefit (ERB) to facilitate cross-platform comparisons and validate design choices. Together, these strategies aim to reduce controller burden and improve locomotion sustainability across size scales.

Keywords: Bipedal Locomotion, Underactuation, Inertia Management, Robotic Compliance, Scalable Robot Design

How to Cite?: Revant Nitin Bhatt, Djona Christ-Medesse Dossou, "Designing for Dynamics:Underactuation and Inertia as First Principles in Bipeda Robots", Volume 14 Issue 11, November 2025, International Journal of Science and Research (IJSR), Pages: 1285-1292, https://www.ijsr.net/getabstract.php?paperid=SR251117200057, DOI: https://dx.doi.org/10.21275/SR251117200057