{"id":"https://openalex.org/W2790603666","doi":"https://doi.org/10.1109/access.2018.2799145","title":"Versatile Locomotion Control of a Hexapod Robot Using a Hierarchical Network of Nonlinear Oscillator Circuits","display_name":"Versatile Locomotion Control of a Hexapod Robot Using a Hierarchical Network of Nonlinear Oscillator Circuits","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2790603666","doi":"https://doi.org/10.1109/access.2018.2799145","mag":"2790603666"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2799145","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2799145","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2018.2799145","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091055664","display_name":"Ludovico Minati","orcid":"https://orcid.org/0000-0002-2532-1674"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ludovico Minati","raw_affiliation_strings":["Complex Systems Theory Department, Institute of Nuclear Physics, Krak\u00f3w, Poland","Tokyo Tech World Research Hub Initiative, Institute of Innovative Research, Tokyo Institute of Technology, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2532-1674","affiliations":[{"raw_affiliation_string":"Complex Systems Theory Department, Institute of Nuclear Physics, Krak\u00f3w, Poland","institution_ids":[]},{"raw_affiliation_string":"Tokyo Tech World Research Hub Initiative, Institute of Innovative Research, Tokyo Institute of Technology, Yokohama, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045809433","display_name":"Mattia Frasca","orcid":"https://orcid.org/0000-0002-4361-0576"},"institutions":[{"id":"https://openalex.org/I39063666","display_name":"University of Catania","ror":"https://ror.org/03a64bh57","country_code":"IT","type":"education","lineage":["https://openalex.org/I39063666"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mattia Frasca","raw_affiliation_strings":["Department of Electrical Electronic and Computer Engineering, University of Catania, Catania, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Electronic and Computer Engineering, University of Catania, Catania, Italy","institution_ids":["https://openalex.org/I39063666"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071286340","display_name":"Natsue Yoshimura","orcid":"https://orcid.org/0000-0002-7495-9113"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Natsue Yoshimura","raw_affiliation_strings":["FIRST, Institute of Innovative Research, Tokyo Institute of Technology, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FIRST, Institute of Innovative Research, Tokyo Institute of Technology, Yokohama, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055913048","display_name":"Yasuharu Koike","orcid":"https://orcid.org/0000-0002-8169-0044"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuharu Koike","raw_affiliation_strings":["FIRST, Institute of Innovative Research, Tokyo Institute of Technology, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FIRST, Institute of Innovative Research, Tokyo Institute of Technology, Yokohama, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5091055664"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.9002,"has_fulltext":false,"cited_by_count":80,"citation_normalized_percentile":{"value":0.94016882,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":null,"first_page":"8042","last_page":"8065"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9980999827384949,"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":0.9980999827384949,"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/T10581","display_name":"Neural dynamics and brain function","score":0.9832000136375427,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9828000068664551,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.9241943359375},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.7750908136367798},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6036413908004761},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5223187804222107},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47028306126594543},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4404659867286682},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43380507826805115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1707438826560974},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12562748789787292},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08931538462638855}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9241943359375},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.7750908136367798},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6036413908004761},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5223187804222107},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47028306126594543},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4404659867286682},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43380507826805115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1707438826560974},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12562748789787292},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08931538462638855},{"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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2018.2799145","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2799145","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:01c82c05e4da446ba6c2924a22063ca7","is_oa":true,"landing_page_url":"https://doaj.org/article/01c82c05e4da446ba6c2924a22063ca7","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 6, Pp 8042-8065 (2018)","raw_type":"article"},{"id":"pmh:oai:irdb.nii.ac.jp:00897:0004116852","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100766632","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Accesss","raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2799145","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2799145","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.47999998927116394,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G8498984417","display_name":null,"funder_award_id":"KAKENHI 17H05903","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G8722077814","display_name":null,"funder_award_id":"KAKENHI 26112004","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1263895330","https://openalex.org/W1487312711","https://openalex.org/W1620414136","https://openalex.org/W1677409904","https://openalex.org/W1725666586","https://openalex.org/W1963656947","https://openalex.org/W1968276597","https://openalex.org/W1969052504","https://openalex.org/W1973311280","https://openalex.org/W1973769203","https://openalex.org/W1976900088","https://openalex.org/W1980788971","https://openalex.org/W1988571995","https://openalex.org/W1994101655","https://openalex.org/W1995837155","https://openalex.org/W1999052969","https://openalex.org/W2023482630","https://openalex.org/W2038078811","https://openalex.org/W2046127725","https://openalex.org/W2046434485","https://openalex.org/W2048485798","https://openalex.org/W2050426505","https://openalex.org/W2059085116","https://openalex.org/W2060549341","https://openalex.org/W2062152154","https://openalex.org/W2086113266","https://openalex.org/W2095995315","https://openalex.org/W2098135729","https://openalex.org/W2102263256","https://openalex.org/W2111178261","https://openalex.org/W2117062263","https://openalex.org/W2118249063","https://openalex.org/W2119605622","https://openalex.org/W2122107405","https://openalex.org/W2128917776","https://openalex.org/W2138424650","https://openalex.org/W2152722082","https://openalex.org/W2156174987","https://openalex.org/W2165104493","https://openalex.org/W2167317068","https://openalex.org/W2168448159","https://openalex.org/W2169673198","https://openalex.org/W2169791062","https://openalex.org/W2180144887","https://openalex.org/W2190063215","https://openalex.org/W2213545333","https://openalex.org/W2239255050","https://openalex.org/W2437760820","https://openalex.org/W2571329746","https://openalex.org/W2571778929","https://openalex.org/W2592993441","https://openalex.org/W2595015964","https://openalex.org/W2599514851","https://openalex.org/W4237200682","https://openalex.org/W4301227645","https://openalex.org/W6674584297"],"related_works":["https://openalex.org/W4318316102","https://openalex.org/W2060252589","https://openalex.org/W2630004860","https://openalex.org/W827079712","https://openalex.org/W2026846936","https://openalex.org/W2688308315","https://openalex.org/W3113929423","https://openalex.org/W3123196627","https://openalex.org/W2609932076","https://openalex.org/W2978643636"],"abstract_inverted_index":{"A":[0,133],"novel":[1],"hierarchical":[2,192],"network":[3,68],"based":[4,73],"on":[5,74,91],"coupled":[6,33],"nonlinear":[7,53],"oscillators":[8],"is":[9,56,256],"proposed":[10],"for":[11,58,198,232],"motor":[12],"pattern":[13,24,37,83],"generation":[14],"in":[15,60,123,140,162,190],"hexapod":[16,99,210,234],"robots.":[17],"Its":[18],"architecture":[19,194],"consists":[20],"of":[21,45,109,165,168,172,180,186,203,225,249,262,269,292],"a":[22,51,61,107,110,166,178,200],"central":[23],"generator":[25],"(CPG),":[26],"producing":[27,155],"the":[28,43,80,119,127,138,163,191,208,257,263,267,290,293],"global":[29],"leg":[30],"coordination":[31],"pattern,":[32],"with":[34,276],"six":[35],"local":[36],"generators,":[38],"each":[39],"devoted":[40],"to":[41,95,116,177],"generating":[42],"trajectory":[44],"one":[46],"leg.":[47],"Every":[48],"node":[49],"comprises":[50],"simple":[52,85],"oscillator":[54],"and":[55,101,130,142,150,154,171,174,195,288],"well-suited":[57],"implementation":[59],"standard":[62],"field-programmable":[63],"analog":[64,285],"array":[65],"device.":[66],"The":[67,87,183,279],"enables":[69],"versatile":[70],"locomotion":[71],"control":[72,96],"five":[75,214],"high-level":[76,215],"parameters":[77,147,218,270],"which":[78,271],"determine":[79],"inter-oscillator":[81],"coupling":[82],"via":[84,236,260],"rules.":[86],"controller":[88,193],"was":[89,104,114],"realized":[90],"dedicated":[92],"hardware,":[93],"deployed":[94],"an":[97,223],"ant-like":[98,141],"robot,":[100,265],"multi-sensory":[102],"telemetry":[103,261],"performed.":[105],"As":[106],"function":[108],"single":[111],"parameter,":[112],"it":[113],"able":[115],"stably":[117],"reproduce":[118],"canonical":[120],"gaits":[121,170],"observed":[122,161],"six-legged":[124],"insects,":[125],"namely":[126],"wave,":[128],"tetrapod,":[129],"tripod":[131],"gaits.":[132],"second":[134],"parameter":[135],"enabled":[136,148],"driving":[137,233],"robot":[139],"cockroach-like":[143],"postures.":[144],"Three":[145],"further":[146],"inhibiting":[149],"resuming":[151],"walking,":[152],"steering,":[153],"uncoordinated":[156],"movement.":[157],"Emergent":[158],"phenomena":[159],"were":[160],"form":[164],"multitude":[167],"intermediate":[169],"hysteresis":[173],"metastability":[175],"close":[176],"point":[179],"gait":[181],"transition.":[182],"primary":[184],"contributions":[185],"this":[187],"paper":[188],"reside":[189],"associated":[196],"approach":[197],"collapsing":[199],"large":[201],"set":[202],"low-level":[204],"parameters,":[205],"stemming":[206],"from":[207,239],"complex":[209],"kinematics,":[211],"into":[212,284],"only":[213],"parameters.":[216],"Such":[217],"can":[219],"be":[220],"changed":[221],"dynamically,":[222],"aspect":[224],"broad":[226],"practical":[227],"relevance":[228],"opening":[229],"new":[230],"avenues":[231],"robots":[235],"afferent":[237],"signals":[238],"other":[240,277],"circuits":[241],"representing":[242],"higher":[243],"brain":[244],"areas,":[245],"or":[246],"by":[247],"means":[248],"suitable":[250],"brain-computer":[251],"interfaces.":[252],"An":[253],"additional":[254],"contribution":[255],"detailed":[258],"characterization":[259],"physical":[264],"involving":[266],"definition":[268],"may":[272],"aid":[273],"future":[274],"comparison":[275],"controllers.":[278],"present":[280],"results":[281],"renew":[282],"interest":[283],"CPG":[286],"architectures":[287],"reinforce":[289],"generality":[291],"connectionist":[294],"approach.":[295]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
