{"id":"https://openalex.org/W2075552808","doi":"https://doi.org/10.1108/ir-10-2014-0403","title":"Hexapod moving in complex terrains via a new adaptive CPG gait design","display_name":"Hexapod moving in complex terrains via a new adaptive CPG gait design","publication_year":2015,"publication_date":"2015-03-16","ids":{"openalex":"https://openalex.org/W2075552808","doi":"https://doi.org/10.1108/ir-10-2014-0403","mag":"2075552808"},"language":"en","primary_location":{"id":"doi:10.1108/ir-10-2014-0403","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-10-2014-0403","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103472838","display_name":"Hung\u2010Yuan Chung","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Hung-Yuan Chung","raw_affiliation_strings":["Department of Electrical Engineering, National Central University, Jhongli, Taiwan","(Department of Electrical Engineering, National Central University, Jhongli, Taiwan)"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, Jhongli, Taiwan","institution_ids":["https://openalex.org/I22265921"]},{"raw_affiliation_string":"(Department of Electrical Engineering, National Central University, Jhongli, Taiwan)","institution_ids":["https://openalex.org/I22265921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110082774","display_name":"Chun-Cheng Hou","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chun-Cheng Hou","raw_affiliation_strings":["Department of Electrical Engineering, National Central University, Jhongli, Taiwan","(Department of Electrical Engineering, National Central University, Jhongli, Taiwan)"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, Jhongli, Taiwan","institution_ids":["https://openalex.org/I22265921"]},{"raw_affiliation_string":"(Department of Electrical Engineering, National Central University, Jhongli, Taiwan)","institution_ids":["https://openalex.org/I22265921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073362801","display_name":"Sheng-Yen Hsu","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Sheng-Yen Hsu","raw_affiliation_strings":["Department of Electrical Engineering, National Central University, Jhongli, Taiwan","(Department of Electrical Engineering, National Central University, Jhongli, Taiwan)"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, Jhongli, Taiwan","institution_ids":["https://openalex.org/I22265921"]},{"raw_affiliation_string":"(Department of Electrical Engineering, National Central University, Jhongli, Taiwan)","institution_ids":["https://openalex.org/I22265921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103472838"],"corresponding_institution_ids":["https://openalex.org/I22265921"],"apc_list":null,"apc_paid":null,"fwci":0.7081,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.70819073,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"42","issue":"2","first_page":"129","last_page":"141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9850999712944031,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.8280600309371948},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.7918804883956909},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7638009786605835},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5918442010879517},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5252477526664734},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.490831196308136},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47422170639038086},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4658763110637665},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.46542686223983765},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4341292977333069},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3701589107513428},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3608701825141907},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.319268137216568},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.28559041023254395},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.192771315574646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15576347708702087},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.12274771928787231}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.8280600309371948},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.7918804883956909},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7638009786605835},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5918442010879517},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5252477526664734},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.490831196308136},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47422170639038086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4658763110637665},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.46542686223983765},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4341292977333069},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3701589107513428},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3608701825141907},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.319268137216568},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.28559041023254395},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.192771315574646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15576347708702087},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.12274771928787231},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-10-2014-0403","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-10-2014-0403","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1974215544","https://openalex.org/W1974965471","https://openalex.org/W1985940938","https://openalex.org/W2002561027","https://openalex.org/W2009375605","https://openalex.org/W2015521827","https://openalex.org/W2023093568","https://openalex.org/W2026555810","https://openalex.org/W2050426505","https://openalex.org/W2052186030","https://openalex.org/W2057952125","https://openalex.org/W2061191702","https://openalex.org/W2111905738","https://openalex.org/W2165903554"],"related_works":["https://openalex.org/W4318316102","https://openalex.org/W2060252589","https://openalex.org/W2630004860","https://openalex.org/W827079712","https://openalex.org/W2387539491","https://openalex.org/W2026846936","https://openalex.org/W2688308315","https://openalex.org/W3113929423","https://openalex.org/W3123196627","https://openalex.org/W2609932076"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1,70,144,183,265],"This":[2],"paper":[3],"aims":[4],"to":[5,21,42,57,61,82,89,100,102,135,197,201,214,236,254,278,288,292,314,326],"use":[6],"the":[7,12,91,104,150,165,178,193,198,203,208,216,224,229,241,256,260,271,276,289,296,311,331,335],"Matsuoka\u2019s":[8],"neural":[9,31,46,131,199],"oscillators":[10,132,200,210],"as":[11,97,192],"basic":[13],"units":[14],"of":[15,28,33,125,128,167,211,245,258,299],"central":[16],"pattern":[17],"generator":[18],"(CPG),":[19],"and":[20,78,88,133,205,226,322],"offer":[22],"a":[23,29,75,79,84,116,126,157,162,233,327],"new":[24],"CPG":[25,32,101,113,273],"architecture":[26],"consisting":[27,124],"dual":[30],"circular":[34],"three":[35],"links":[36],"responsible":[37,52],"for":[38,53],"oscillator":[39,47,54],"phase":[40],"adjustment,":[41,56],"which":[43,50,240],"an":[44,67,109,320],"external":[45],"is":[48,51,72,115,169,333],"added,":[49],"amplitude":[55,204,213],"control":[58,118,186,230,293,310],"foot":[59,92,122,190,217,237,312],"depth":[60,313],"balance":[62,223,261,281,315],"itself":[63,316],"when":[64,177,262,282,317],"treading":[65,318],"on":[66,108,161,270,319],"obstacle.":[68],"Design/methodology/approach":[69],"It":[71],"equipped":[73],"with":[74,120],"triaxial":[76,80],"accelerometer":[77],"gyroscope":[81],"obtain":[83],"real-time":[85],"robot":[86,336],"attitude,":[87],"disintegrate":[90],"tilt":[93,179],"in":[94,155],"each":[95,121],"direction":[96],"feedback":[98,194],"signals":[99,220],"restore":[103,279],"robot\u2019":[105],"horizontal":[106],"attitude":[107],"uneven":[110],"terrain.":[111],"The":[112,145,184,266],"controller":[114,123,267],"distributed":[117],"method,":[119],"group":[127],"reciprocally":[129],"coupling":[130,141],"sensors":[134],"generate":[136,215],"different":[137,140],"locomotion":[138],"by":[139],"patterns.":[142],"Findings":[143],"experiment":[146],"results":[147],"indicated":[148],"that":[149,171,221,307],"gait":[151],"design":[152,268],"method":[153],"succeeded":[154],"enabling":[156],"steady":[158],"hexapod":[159],"walking":[160],"rugged":[163],"terrain,":[164],"mode":[166],"response":[168,297],"such":[170],"adjustments":[172],"can":[173,222,248,303,309,324,337],"only":[174],"be":[175,249,305],"made":[176],"occurs.":[180],"Practical":[181],"implications":[182],"overall":[185],"mechanism":[187],"uses":[188],"individual":[189],"tilts":[191],"signal":[195],"input":[196],"change":[202],"compare":[206],"against":[207],"reference":[209,219],"fixed":[212],"height":[218],"body,":[225],"then":[227],"convert":[228],"signals,":[231],"through":[232,251],"trajectory":[234],"generator,":[235],"trajectories":[238],"from":[239,295],"actual":[242],"rotation":[243],"angle":[244],"servo":[246],"motors":[247],"obtained":[250],"inverse":[252],"kinematics":[253],"achieve":[255],"effect":[257],"restoring":[259],"traveling.":[263],"Originality/value":[264],"based":[269],"bionic":[272],"model":[274],"has":[275],"ability":[277,291],"its":[280,283,340],"body":[284],"tilts.":[285],"In":[286],"addition":[287],"model\u2019s":[290],"locomotion,":[294],"waveforms":[298],"this":[300],"experiment,":[301],"it":[302,308,323],"also":[304],"noticed":[306],"obstacle,":[321],"adapt":[325],"changing":[328],"environment.":[329],"When":[330],"obstacle":[332],"removed,":[334],"quickly":[338],"regain":[339],"balance.":[341]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}