# Framework for Developing Bio-Inspired Morphologies for Walking Robots
## 8 Conclusions  
This paper proposed a framework for developing bio-inspired morphologies for walking robots and presented a case study that used the framework to develop a dung beetle inspired robot, ALPHA. The framework proved to enable the development of a walking robot with advantages over conventional hexapod designs in key performance parameters such as _movement versatility_ (1), _dexterity_ (2), and _durability_ (3). In addition, a greater replication and knowledge of the system was achieved through structured development and a strong input of biological morphological data.  
Simulations proved that the obtained anchor hexapod morphology has important advantages over a template hexapod morphology, which are obtained by the roll and pitch angle of the first joint in each leg (Table 1). For example, the template morphology was limited to shorter step lengths of 0.18 m before it was overloaded, due to a disproportional load on its second motor. Meanwhile, the improved distribution of torques on the anchor morphology's motors enabled 50.0 % longer steps. Likewise, it was found that the anchor morphology has a 95.5% better dexterity and ability to reach, step onto and traverse objects and obstacles.  
In addition, it was found that the anchor morphology's performance is easier to further upgrade and improve upon than the template morphology. These advantages are applied to all pairs of legs: front, middle and hind legs. Finally, it was found that the anchor morphology has slightly higher power consumption as a trade-off.  
This study's subject will in future studies be further researched in three directions:  
1. Utilizing the data from the analysis (Section 6) to further optimize ALPHA's controller, as well as highlight other advantages of the anchor morphology;
2. Investigating other embodied features that are influenced by the morphology, and therefore suitable to be implemented in the framework's phase four (Section 6);
3. Developing mathematical models that may further optimize the anchor's control in regard to parameters such as torque distribution, dexterity, durability and speed [8; 33].  
[PERSON] developed the framework, substantiated by developing the robot ALPHA through the four phases, performed the experiments, and analyzed the data. [PERSON] and [PERSON] provided the general direction of the project and supervised the framework development. [PERSON], [PERSON], and [PERSON] helped with data analysis. S.N.G. and N.N.B. provided the animal model and gave inputs on the animal biomechanics. The manuscript was written by [PERSON], edited by [PERSON], [PERSON], and [PERSON], and then discussed and reviewed by all authors. All authors have read and agreed to the published version of the manuscript.  
This research was supported by the Human Frontier Science Program under grant agreement No. RGP0002/2017 (DLife).  
Special thanks to [PERSON] and [PERSON] for their contributions in scanning, segmenting and cleaning the CT scans of the dung beetle specimen. We thank [PERSON] and [PERSON] for organizing the field study to collect beetles, as well as the discussions on biological aspects.  
The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.