Space Platform for Intelligent Dynamic Exploration and Robust Walking (S.P.I.D.E.R.)

This paper presents the design and evaluation of a simple, low cost, bioinspired octopedal walking robot. The robot, constructed with a centrally controlled Arduino system and 3D printed modular limbs, was designed to test the viability of locomotion following the loss of a leg. Inspired by arachnid gait patterns, the robot was physically tested in multiple trials to evaluate its stability and movement capabilities in a compromised state. Despite requiring a support rig due to torque limitations during motor command updates, the system demonstrated that walking with seven functional legs is feasible. These results support the hypothesis that octopedal redundancy offers a promising foundation for field-capable walking robots. However, our findings also highlight the need for further research in stability control and adaptive gait behavior. Parallel efforts by an AI-focused team are exploring gait adaptation through machine learning, while hardware limitations and motor control refinements remain open challenges for future development.