abstract
- This study presents AxoloBot, a modular robotic platform inspired by the axolotl (Ambystoma mexicanum), developed to support both research in multimodal locomotion and the practical teaching of control strategies in complex dynamic systems. The primary objective was to create an educational tool that effectively bridges theoretical instruction with hands-on experimentation. The development process began with a morphological and locomotor analysis of the axolotl, which guided the mechanical design of hybrid limbs integrating crank-rocker and wheg mechanisms to reproduce crawling and walking gaits observed in the biological model. The robot's components were modelled in CAD and fabricated using PLA-based 3D printing. A Proportional-Derivative controller was implemented on an ESP32 microcontroller to maintain a 180° phase offset between rear limbs, enabling stable and coordinated gait generation under typical use conditions. To assess its pedagogical potential, AxoloBot was integrated into an undergraduate control systems activity involving four students, who configured control parameters and analysed system behaviour in real time. Preliminary observations indicated improved comprehension of control principles and greater student engagement. A broader classroom deployment is planned to evaluate its long-term educational impact. AxoloBot represents a modular platform with potential applications in both robotics research and engineering education.