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Biomimetics
Special Issues
Bio-Inspired Robots: Design and Application
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Bio-Inspired Robots: Design and Application

A special issue of Biomimetics (ISSN 2313-7673). This special issue belongs to the section "Locomotion and Bioinspired Robotics".

Deadline for manuscript submissions: 25 October 2026 | Viewed by 4120

Editor

Dr. Seyed Hamed Seyed Hosseini

E-Mail Website
Guest Editor
Department of Mechanical Engineering, École de Technologie Supérieure, University of Quebec, 1100 Notre-Dame St W, Montreal, QC H3C 1K3, Canada
Interests: vibration analysis; nonlinear dynamics; robotic manipulators; biomechanic systems; machine learning; hamiltonian neural networks; soft robots; smart materials; composite materials; nanostructures

Special Issue Information

Dear Colleagues,

The rapid evolution of bio-inspired robotics is transforming the way mechanical systems interact with complex environments in industry, healthcare, aerospace, and autonomous systems. By drawing inspiration from natural organisms, ranging from soft-bodied creatures and insects to human neuromuscular control, bio-inspired robots offer enhanced adaptability, resilience, dexterity, and efficiency. This Special Issue aims to bring together cutting-edge research that explores the design principles, fabrication techniques, modeling strategies, and practical applications of biologically inspired robotic systems.

The scope of the issue covers both foundational scientific advances and emerging real-world applications. Topics include bio-inspired mechanical structures, soft and compliant actuators, smart materials, sensory-driven control architectures, and nonlinear dynamics governing robot–environment interaction. Contributions addressing bio-mechanical modeling, biomimetic structures, advanced sensing, autonomous movement, swarming behavior, and sustainable materials for robotics are highly encouraged. Research articles, review papers, and experimental or theoretical studies are welcome.

This Special Issue aims to serve as a platform for advancing the next generation of robotic systems that mimic the efficiency and intelligence of natural organisms. By integrating biology, engineering, materials science, and artificial intelligence, we hope to stimulate new interdisciplinary collaborations and support the development of innovative robotic solutions with strong industrial and societal impact.

We look forward to receiving your contributions.

Dr. Seyed Hamed Seyed Hosseini
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 250 words) can be sent to the Editorial Office for assessment.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-anonymized peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Biomimetics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2200 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • bio-inspired robotics
  • soft robots and smart materials
  • biomimetic design and structures
  • nonlinear dynamics and control
  • biomechanics-inspired actuation
  • sensory-driven robotic systems
  • autonomous and adaptive behavior
  • robotic manipulation and locomotion
  • bio-inspired mechatronics
  • applications in healthcare, manufacturing, and aerospace

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Further information on MDPI's Special Issue policies can be found here.

Published Papers (4 papers)

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Research

23 pages, 5966 KB  
Article
Composite Objective Optimization of Finger Length Under Performance Trade-Offs and Constraints
by Lei Jiang, Kaixin Lan, Xianwei Liu, Chaojie Fu, Yongbin Jin and Hongtao Wang
Biomimetics 2026, 11(8), 529; https://doi.org/10.3390/biomimetics11080529 - 30 Jul 2026
Viewed by 229
Abstract
The inherent trade-off between structural compactness and functional versatility poses a fundamental challenge in biomimetic robotic hand design. This paper presents a multi-objective optimization framework for determining the optimal phalanx length allocation of a biomimetic finger under a fixed total-length constraint. Three performance [...] Read more.
The inherent trade-off between structural compactness and functional versatility poses a fundamental challenge in biomimetic robotic hand design. This paper presents a multi-objective optimization framework for determining the optimal phalanx length allocation of a biomimetic finger under a fixed total-length constraint. Three performance criteria are formulated: grasp capability, measured by the area of a novel shared workspace (Region II) between power grasping and precision manipulation; kinematic dexterity, evaluated as the global average of the reciprocal condition number of the Jacobian matrix; and key-press range, defined as the maximum static fingertip span under perpendicularity and slope constraints. A full grid search reveals distinct optimal configurations for each objective. Pareto analysis of 117 non-dominated solutions shows that the key-press range is most sensitive to dimensional variations, with a 24.7% performance spread. A hierarchical selection strategy that prioritizes the key-press range while balancing the other two objectives yields a recommended compromise design. Experimental validation of the key-press reachability for the recommended compromise design achieves a 98.8% keystroke success rate over 1000 cross-row strikes without wrist movement. These results confirm its practical feasibility for fine manipulation tasks, while experimental characterization of the grasp capability and kinematic dexterity objectives remains as future work. Full article
(This article belongs to the Special Issue Bio-Inspired Robots: Design and Application)
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20 pages, 9335 KB  
Article
Data-Driven Inverse Design Enables a Dexterous Hand with Human-Comparable Dynamic Performance in Structured Tasks
by Lei Jiang, Kaixin Lan, Xianwei Liu, Chaojie Fu, Yongbin Jin and Hongtao Wang
Biomimetics 2026, 11(6), 434; https://doi.org/10.3390/biomimetics11060434 - 18 Jun 2026
Viewed by 828
Abstract
The design of dexterous robotic hands has long been constrained by empirical paradigms that struggle to balance anthropomorphic fidelity with dynamic performance. This study aims to establish a systematic methodology that bridges this gap through data-driven inverse design. We construct a quantitative association [...] Read more.
The design of dexterous robotic hands has long been constrained by empirical paradigms that struggle to balance anthropomorphic fidelity with dynamic performance. This study aims to establish a systematic methodology that bridges this gap through data-driven inverse design. We construct a quantitative association map between design variables and performance metrics using a comprehensive dataset of existing dexterous hands, then apply this map to translate explicit high-frequency dynamic targets into an optimized hardware configuration. The analysis reveals that the dominant principles for high-speed performance—tendon-driven transmission, proximal actuation, and lightweight rigid structures—closely mirror the biomechanical architecture of the human hand. Guided by this convergence, we develop the Beyond Hand, a 20-degree-of-freedom (DoF) anthropomorphic hand that preserves human-scale dimensions. Standardized frequency-response tests across all 15 joints show magnitude attenuation below 3 dB at 14 Hz and cutoff frequencies clustered around 10 Hz. In rhythm-game and Tetris-style manipulation tasks, the hand maintains over 90% accuracy at actuation frequencies up to 12 Hz. These results demonstrate that a performance-driven pathway can systematically elevate the dynamic capabilities of humanoid dexterous hands, offering a scalable framework for biomimetic robotic design. Full article
(This article belongs to the Special Issue Bio-Inspired Robots: Design and Application)
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Graphical abstract

19 pages, 5071 KB  
Article
Dynamics and Control of a Novel Hybrid Legged Robot with Temporary Flight Capabilities
by Emir Kutluay, Oğuzhan Gültekin and Yiğit Yazıcıoğlu
Biomimetics 2026, 11(5), 328; https://doi.org/10.3390/biomimetics11050328 - 8 May 2026
Viewed by 929
Abstract
In this study, a novel flying legged robot configuration with enhanced obstacle-crossing capability is introduced. Legged robots, especially RHex robots, already possess high obstacle-crossing capability; however, the obstacle size that can be overcome is directly dependent on the leg length. Although stair climbing–descending, [...] Read more.
In this study, a novel flying legged robot configuration with enhanced obstacle-crossing capability is introduced. Legged robots, especially RHex robots, already possess high obstacle-crossing capability; however, the obstacle size that can be overcome is directly dependent on the leg length. Although stair climbing–descending, obstacle course and inclined surface algorithms have been studied for the RHex robot, flight capability has not been explored. In this study, this improvement is achieved with minimal impact on the RHex’s design by adding just a thruster as an additional propulsion system to propel the robot into flight. The attitude control is realized using the mass actuation of the robot legs, similar to how animals like lizards and cats utilize their limbs or tails as inertial appendages to stabilize their body pitch during mid-air maneuvers. Instead of direct and complete flight control, the aim was a temporary flight similar to obstacle-clearing flights of chickens. Hence, a nonlinear 2D model is developed to investigate the kinematics and dynamics of the RHex robot. Equations of motion are derived, linearized and used in a state feedback regulator design; the regulator is also expanded for reference tracking. Full article
(This article belongs to the Special Issue Bio-Inspired Robots: Design and Application)
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Graphical abstract

19 pages, 14777 KB  
Article
Human-Inspired Holistic Control for Mobile Humanoid Robots
by Zijian Wang, Xuanrui Ren, Hongfu Tang, Hongzhe Jin and Jie Zhao
Biomimetics 2026, 11(2), 130; https://doi.org/10.3390/biomimetics11020130 - 11 Feb 2026
Cited by 1 | Viewed by 1573
Abstract
Humanoid mobile manipulators integrate a humanoid upper body with a mobile platform, forming a highly redundant system capable of performing complex manipulation tasks. To address the redundancy arising from the coordinated motion of the wheeled base, waist, and dual arms, this study proposes [...] Read more.
Humanoid mobile manipulators integrate a humanoid upper body with a mobile platform, forming a highly redundant system capable of performing complex manipulation tasks. To address the redundancy arising from the coordinated motion of the wheeled base, waist, and dual arms, this study proposes a human-inspired holistic control method based on multi-objective optimization. The degrees of freedom (DOF) of the upper limbs and the mobile base are unified within a single control framework, thereby enhancing overall motion coordination. Specifically, the controller is formulated as a strictly convex quadratic program (QP) that ensures accurate end-effector tracking while effectively handling joint position and velocity constraints. Inspired by human motor characteristics, the method incorporates a hierarchical weight assignment strategy and base DOF optimization to preserve arm manipulability while achieving effective coordination between the base and waist. Simulation studies of dual-arm handling tasks and real-world experiments involving mobile handling and peg-in-hole assembly demonstrate that the proposed method generates smooth, humanoid-like motions, thereby validating the effectiveness of the proposed control framework. Full article
(This article belongs to the Special Issue Bio-Inspired Robots: Design and Application)
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