{"id":"https://openalex.org/W4392408307","doi":"https://doi.org/10.1109/icsc58660.2023.10449774","title":"Enhancing Hexapod Robot Locomotion Control Through PID Controller Optimization Using Genetic Algorithm","display_name":"Enhancing Hexapod Robot Locomotion Control Through PID Controller Optimization Using Genetic Algorithm","publication_year":2023,"publication_date":"2023-12-18","ids":{"openalex":"https://openalex.org/W4392408307","doi":"https://doi.org/10.1109/icsc58660.2023.10449774"},"language":"en","primary_location":{"id":"doi:10.1109/icsc58660.2023.10449774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsc58660.2023.10449774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 11th International Conference on Systems and Control (ICSC)","raw_type":"proceedings-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/A5068892852","display_name":"Abou Soufiane Benyoucef","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"A. Benyoucef","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5065648943","display_name":"Youcef Zennir","orcid":"https://orcid.org/0000-0002-2059-8324"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Y. Zennir","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5068892852"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.225,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50355447,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"556","last_page":"561"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9911999702453613,"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":0.9911999702453613,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9271000027656555,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9749432802200317},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.7197461724281311},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6695330142974854},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.6394223570823669},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6299355626106262},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47126102447509766},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46891412138938904},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4403446912765503},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4178968071937561},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3940156102180481},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.37744903564453125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22676041722297668},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20300504565238953},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.10917684435844421},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.06267198920249939}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9749432802200317},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7197461724281311},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6695330142974854},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.6394223570823669},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6299355626106262},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47126102447509766},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46891412138938904},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4403446912765503},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4178968071937561},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3940156102180481},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.37744903564453125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22676041722297668},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20300504565238953},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.10917684435844421},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.06267198920249939},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":1,"locations":[{"id":"doi:10.1109/icsc58660.2023.10449774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsc58660.2023.10449774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 11th International Conference on Systems and Control (ICSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1480415452","https://openalex.org/W1973106709","https://openalex.org/W1974438679","https://openalex.org/W1991049204","https://openalex.org/W2032546725","https://openalex.org/W2078664653","https://openalex.org/W2093932933","https://openalex.org/W2140821540","https://openalex.org/W2466240308","https://openalex.org/W2480495815","https://openalex.org/W2526944327","https://openalex.org/W2588781200","https://openalex.org/W2765111530","https://openalex.org/W2910589158","https://openalex.org/W3019265885","https://openalex.org/W3033990791","https://openalex.org/W3046564758","https://openalex.org/W3128694599","https://openalex.org/W3207718580","https://openalex.org/W3214346858","https://openalex.org/W4285172629"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W4210919297"],"abstract_inverted_index":{"Hexapod":[0],"robots":[1],"are":[2,11],"highly":[3,101],"stable":[4],"due":[5],"to":[6,42,170],"their":[7],"six":[8],"legs":[9,25],"and":[10,31,65,99,112,167,183],"commonly":[12],"used":[13],"in":[14,97,127,145],"challenging":[15],"terrain.":[16],"Precise":[17],"control":[18,55],"of":[19,23,46,84,104,108,115,136,151,186],"the":[20,24,44,47,54,59,62,66,72,82,85,92,105,109,116,123,129,142,149,165,172,180,187],"joint":[21,48],"angles":[22,111],"is":[26],"crucial":[27],"for":[28],"smooth":[29],"locomotion":[30,191],"stability.":[32],"In":[33],"this":[34,146,156,177],"study,":[35],"we":[36,75,158],"propose":[37],"a":[38,77],"Proportional-Integral-Derivative":[39],"(PID)":[40],"controller":[41,52,86,140],"regulate":[43],"positions":[45],"angles.":[49,133],"The":[50,120,134],"PID":[51,139,174],"adjusts":[53],"output":[56],"based":[57],"on":[58],"error":[60],"between":[61],"desired":[63,106],"setpoint":[64],"actual":[67],"system":[68],"state.":[69],"To":[70],"optimize":[71],"controller's":[73],"performance,":[74],"employed":[76],"Genetic":[78,143],"Algorithm,":[79],"which":[80,162],"improves":[81],"parameters":[83],"through":[87,141],"natural":[88],"selection.":[89],"We":[90],"simulated":[91],"proposed":[93,124],"method":[94],"using":[95],"SIMMECHANICS":[96],"MATLAB":[98],"demonstrated":[100],"accurate":[102],"tracking":[103],"trajectory":[107],"leg":[110,132],"significant":[113],"stability":[114],"robot":[117,188],"during":[118],"movement.":[119],"results":[121],"indicate":[122],"approach's":[125],"effectiveness":[126],"regulating":[128],"hexapod":[130,152],"robot's":[131],"utilization":[135],"an":[137],"optimized":[138],"Algorithm":[144],"study":[147],"enhances":[148,179],"advancement":[150],"robots.":[153],"By":[154],"employing":[155],"method,":[157],"achieve":[159],"automatic":[160],"optimization,":[161],"significantly":[163],"reduces":[164],"time":[166],"effort":[168],"required":[169],"determine":[171],"best":[173],"parameters.":[175],"Consequently,":[176],"approach":[178],"stability,":[181],"control,":[182],"overall":[184],"performance":[185],"across":[189],"diverse":[190],"tasks.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}