Fig. 5. (a) Trajectory of the ant's middle leg tarse during one walking cycle; (b) Trajectory of the tip of a robot leg with three degrees of freedom, following a path obtained from the ant's middle leg data as an inverse kinematics input, at a scale factor of 1:58; (c) Error of the scaled down (i.e., to the ant's length) robot leg position regarding the implemented ant's leg trajectory. 40 IEEE Instrumentation & Measurement Magazine December 2022