{"id":"https://openalex.org/W4383108827","doi":"https://doi.org/10.1109/icra48891.2023.10161107","title":"Morphological Characteristics That Enable Stable and Efficient Walking in Hexapod Robot Driven by Reflex-based Intra-limb Coordination","display_name":"Morphological Characteristics That Enable Stable and Efficient Walking in Hexapod Robot Driven by Reflex-based Intra-limb Coordination","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108827","doi":"https://doi.org/10.1109/icra48891.2023.10161107"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161107","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5088402526","display_name":"Wataru Sato","orcid":"https://orcid.org/0000-0001-8375-1253"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wataru Sato","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057956829","display_name":"Jun Nishii","orcid":null},"institutions":[{"id":"https://openalex.org/I173915773","display_name":"Yamaguchi University","ror":"https://ror.org/03cxys317","country_code":"JP","type":"education","lineage":["https://openalex.org/I173915773"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Nishii","raw_affiliation_strings":["Graduate School of Sciences and Technology for Innovation, Yamaguchi University,Yamaguchi,Japan,753-8512"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Sciences and Technology for Innovation, Yamaguchi University,Yamaguchi,Japan,753-8512","institution_ids":["https://openalex.org/I173915773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060102825","display_name":"Mitsuhiro Hayashibe","orcid":"https://orcid.org/0000-0001-6179-5706"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Hayashibe","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072945772","display_name":"Dai Owaki","orcid":"https://orcid.org/0000-0003-1217-3892"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Dai Owaki","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12127","last_page":"12133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9947999715805054,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.8701372742652893},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6174137592315674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5760149955749512},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5111058354377747},{"id":"https://openalex.org/keywords/reflex","display_name":"Reflex","score":0.4370814263820648},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.42316609621047974},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4126422703266144},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3929276764392853},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.317432701587677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30838486552238464},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.18932735919952393}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.8701372742652893},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6174137592315674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5760149955749512},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5111058354377747},{"id":"https://openalex.org/C83974742","wikidata":"https://www.wikidata.org/wiki/Q179405","display_name":"Reflex","level":2,"score":0.4370814263820648},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.42316609621047974},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4126422703266144},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3929276764392853},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.317432701587677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30838486552238464},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.18932735919952393},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161107","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G7339503873","display_name":null,"funder_award_id":"JP21H00317,JP18H03167,JP20H04260","funder_id":"https://openalex.org/F4320320212","funder_display_name":"Japan Society for the Promotion of Science London"}],"funders":[{"id":"https://openalex.org/F4320320212","display_name":"Japan Society for the Promotion of Science London","ror":"https://ror.org/02m7axw05"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1508525011","https://openalex.org/W1928227378","https://openalex.org/W1969052504","https://openalex.org/W1971017172","https://openalex.org/W1973311280","https://openalex.org/W1973769203","https://openalex.org/W1974336085","https://openalex.org/W1975840128","https://openalex.org/W1976418738","https://openalex.org/W1999052969","https://openalex.org/W2006207808","https://openalex.org/W2023064587","https://openalex.org/W2025842514","https://openalex.org/W2026846936","https://openalex.org/W2035788321","https://openalex.org/W2037050168","https://openalex.org/W2054902580","https://openalex.org/W2061744336","https://openalex.org/W2061934921","https://openalex.org/W2065220180","https://openalex.org/W2078318573","https://openalex.org/W2090252028","https://openalex.org/W2120766536","https://openalex.org/W2141012854","https://openalex.org/W2142532796","https://openalex.org/W2146746326","https://openalex.org/W2152463266","https://openalex.org/W2158782408","https://openalex.org/W2169331639","https://openalex.org/W2185970461","https://openalex.org/W2202005772","https://openalex.org/W2319670548","https://openalex.org/W2587015797","https://openalex.org/W2588781200","https://openalex.org/W2623473014","https://openalex.org/W2775474668","https://openalex.org/W2790603666","https://openalex.org/W2886664784","https://openalex.org/W2898022338","https://openalex.org/W2906679033","https://openalex.org/W2949676527","https://openalex.org/W2981819988","https://openalex.org/W3062776429","https://openalex.org/W3123969978","https://openalex.org/W3198330646","https://openalex.org/W3214346858","https://openalex.org/W4210881583","https://openalex.org/W4237200682","https://openalex.org/W6670128368","https://openalex.org/W6801189501","https://openalex.org/W6963119000"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W2789574804","https://openalex.org/W613729187","https://openalex.org/W2532934974","https://openalex.org/W2965229072","https://openalex.org/W3036227703","https://openalex.org/W2547001673","https://openalex.org/W2516761344","https://openalex.org/W2002270422","https://openalex.org/W3193052986"],"abstract_inverted_index":{"Insects":[0],"exhibit":[1],"adaptive":[2,56],"walking":[3,71,109,140,211],"behavior":[4],"in":[5,53,73,93,129,208],"an":[6,12,50,82,89,153],"unstructured":[7],"environment,":[8],"despite":[9],"having":[10],"only":[11,32,180],"extremely":[13],"small":[14],"number":[15],"of":[16,40,65,108,127,133,149,155,170,205],"neurons":[17],"(10":[18],"<sup":[19,24],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[20,25],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">5</sup>":[21],"to":[22,80,114,168,197],"10":[23],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">6</sup>":[26],").":[27],"This":[28],"suggests":[29],"that":[30,97,161,192],"not":[31],"the":[33,41,46,63,70,116,120,125,130,134,139,181,186,203,210],"brain":[34],"nervous":[35],"system":[36],"but":[37],"also":[38],"properties":[39],"physical":[42],"body,":[43],"such":[44,55],"as":[45,152],"morphological":[47,67,165],"characteristics,":[48],"play":[49],"essential":[51],"role":[52],"generating":[54,209],"behavior.":[57],"Our":[58],"study":[59],"aims":[60],"at":[61,119],"investigating":[62],"effect":[64],"body":[66],"characteristics":[68,166],"on":[69,138],"performance":[72],"a":[74,94,99,106,198],"robot":[75],"model,":[76],"which":[77,111],"is":[78],"designed":[79],"mimic":[81],"insect.":[83],"To":[84],"this":[85],"end,":[86],"we":[87,123],"constructed":[88],"insect-like":[90],"hexapod":[91],"model":[92],"simulation":[95],"environment":[96],"implements":[98],"reflex-based":[100,182],"intra-limb":[101],"coordination":[102,188],"control.":[103],"Herein,":[104],"for":[105,143],"set":[107],"parameters,":[110],"were":[112],"optimized":[113],"maximize":[115],"energy":[117,156],"efficiency":[118],"target":[121],"speed,":[122],"investigated":[124],"effects":[126],"changes":[128],"standard":[131],"posture":[132],"two":[135],"leg":[136],"joints":[137],"success":[141],"rate":[142],"various":[144],"initial":[145],"conditions":[146],"and":[147,176],"cost":[148,207],"transport":[150],"(CoT)":[151],"index":[154],"efficiency.":[157,178],"Simulation":[158],"results":[159],"indicated":[160],"robots":[162],"with":[163],"specific":[164],"similar":[167],"those":[169],"insects":[171],"exhibited":[172],"high":[173],"gait":[174],"stability":[175],"energetic":[177],"Because":[179],"control":[183],"was":[184],"employed,":[185],"inter-leg":[187],"occurred":[189],"spontaneously,":[190],"suggesting":[191],"our":[193],"approach":[194],"would":[195],"lead":[196],"useful":[199],"design":[200],"methodology":[201],"from":[202],"perspective":[204],"computational":[206],"locomotion.":[212]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}