Symmetry-breaking and fault-tolerance analysis of a twelve-legged jansen robot using a hybrid FEA-ANFIS framework

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dc.authorid0009-0008-0959-311X
dc.authorid0009-0005-3946-5870
dc.authorid0009-0008-4341-8120
dc.authorid0000-0001-9720-9852
dc.authorid0009-0003-0098-760X
dc.contributor.authorCoşkun, Yusuf
dc.contributor.authorKoçak, Zakir
dc.contributor.authorAkgüngör, Eren
dc.contributor.authorÖzyılmaz, Lale
dc.contributor.authorÖzyılmaz, Yakup Hakan
dc.date.accessioned2026-07-10T11:45:28Z
dc.date.available2026-07-10T11:45:28Z
dc.date.issued2026
dc.departmentFakülteler, Mühendislik ve Doğa Bilimleri Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description.abstractThis study presents a comprehensive symmetry-breaking analysis framework for a twelve legged Jansen walking robot, integrating finite element analysis (FEA) with adaptive neuro fuzzy inference system (ANFIS) surrogate modeling. A systematic dataset of 210 cases was generated by combining 21 single- and multi-leg failure scenarios across 10 load levels (20–200 N) on the PLA-based 3D-printed prototype. Two novel dimensionless metrics are introduced: the Resilience Index (RI), quantifying the proportional stress increase relative to the baseline, and the Asymmetry Index (AI), measuring leg-reaction force distribution imbalance. Results identify a clear fault-tolerance threshold between two- and four-leg failures: single-leg failures remain at LOW risk (RI < 0.20), while three-leg asymmetric failures (S18) reach CRITICAL level (RI = 1.13, ~97% of PLA yield strength). A hybrid machine learning framework is proposed, applying ANFIS to maximum stress (R2 = 0.817) and safety factor (R2 = 0.936) predictions, while reserving FEA tables for bimodal out puts. The ANFIS surrogate achieves approximately 106× speedup over FEA (262.6 µs vs. 5–8 min), enabling real-time fault diagnosis and digital twin applications. The framework is generalizable to other multi-legged robotic systems requiring fault-tolerance evaluation.
dc.identifier.citationCoşkun, Y., Koçak, Z., Akgüngör, E., Özyılmaz, L., & Özyılmaz, Y. H. (2026). Symmetry-breaking and fault-tolerance analysis of a twelve-legged jansen robot using a hybrid FEA-ANFIS framework. Symmetry, 18(7), pp. 1-37. https://doi.org/10.3390/sym18071068
dc.identifier.doi10.3390/sym18071068
dc.identifier.endpage37
dc.identifier.issn2073-8994
dc.identifier.issue7
dc.identifier.scopus2-s2.0-105045909912
dc.identifier.scopusqualityQ1
dc.identifier.startpage1
dc.identifier.urihttps://doi.org/10.3390/sym18071068
dc.identifier.urihttps://hdl.handle.net/20.500.13055/1530
dc.identifier.volume18
dc.identifier.wosWOS:001833252200001
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakPubMed
dc.indekslendigikaynak.otherSCI-E - Science Citation Index Expanded
dc.institutionauthorCoşkun, Yusuf
dc.institutionauthorKoçak, Zakir
dc.institutionauthorAkgüngör, Eren
dc.institutionauthorid0009-0008-0959-311X
dc.institutionauthorid0009-0005-3946-5870
dc.institutionauthorid0009-0008-4341-8120
dc.institutionauthorid0000-0001-9720-9852
dc.institutionauthorid0009-0003-0098-760X
dc.language.isoen
dc.publisherMDPI Publishing
dc.relation.ispartofSymmetry
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectMulti-Legged Robot
dc.subjectJansen Mechanism
dc.subjectSymmetry Breaking
dc.subjectFault Tolerance
dc.subjectFinite Element Analysis
dc.subjectANFIS
dc.subjectSurrogate Model
dc.subjectDigital Twin
dc.titleSymmetry-breaking and fault-tolerance analysis of a twelve-legged jansen robot using a hybrid FEA-ANFIS framework
dc.typeArticle
dspace.entity.typePublication

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