Fig. 8: Evaluation of the fabricated pillbug and simulation.

a Comparison of the experimental and simulated pillbug performing walking with lowered body in one action sequence cycle. The three tracked joints are highlighted in green bounding boxes. b–d The experiment and simulated trajectories of the three joints (e-g: joint 1-3). The color gradient indicates the time of the motion. The joint positions at the beginning and ending of each action sequence cycle are highlighted with peak point markers. e–g Trajectories of each action sequence cycle from the experiment and simulated trajectories (e-g: joint 1-3). All the cycles are segmented from b–d at the highlighted points, with starting positions aligned at the zero coordinate.