{"id":"https://openalex.org/W2078318573","doi":"https://doi.org/10.1109/iros.2012.6386135","title":"Biologically inspired reactive climbing behavior of hexapod robots","display_name":"Biologically inspired reactive climbing behavior of hexapod robots","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2078318573","doi":"https://doi.org/10.1109/iros.2012.6386135","mag":"2078318573"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5040890557","display_name":"Dennis Goldschmidt","orcid":"https://orcid.org/0000-0002-0603-7176"},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dennis Goldschmidt","raw_affiliation_strings":["Faculty of Physics, Third Institute of Physics-Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Gottingen, Germany","Faculty of Physics, Third Institute of Physics - Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Friedrich- Hund-Platz 1, 37077, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Physics, Third Institute of Physics-Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Gottingen, Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"Faculty of Physics, Third Institute of Physics - Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Friedrich- Hund-Platz 1, 37077, Germany","institution_ids":["https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084361566","display_name":"Frank Hesse","orcid":null},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Hesse","raw_affiliation_strings":["Faculty of Physics, Third Institute of Physics-Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Gottingen, Germany","Faculty of Physics, Third Institute of Physics - Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Friedrich- Hund-Platz 1, 37077, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Physics, Third Institute of Physics-Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Gottingen, Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"Faculty of Physics, Third Institute of Physics - Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Friedrich- Hund-Platz 1, 37077, Germany","institution_ids":["https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023811677","display_name":"Florentin W\u00f6rg\u00f6tter","orcid":null},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florentin Worgotter","raw_affiliation_strings":["Faculty of Physics, Third Institute of Physics-Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Gottingen, Germany","Faculty of Physics, Third Institute of Physics - Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Friedrich- Hund-Platz 1, 37077, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Physics, Third Institute of Physics-Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Gottingen, Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"Faculty of Physics, Third Institute of Physics - Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Friedrich- Hund-Platz 1, 37077, Germany","institution_ids":["https://openalex.org/I74656192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034246691","display_name":"Poramate Manoonpong","orcid":"https://orcid.org/0000-0002-4806-7576"},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Poramate Manoonpong","raw_affiliation_strings":["Faculty of Physics, Third Institute of Physics-Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Gottingen, Germany","Faculty of Physics, Third Institute of Physics - Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Friedrich- Hund-Platz 1, 37077, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Physics, Third Institute of Physics-Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Gottingen, Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"Faculty of Physics, Third Institute of Physics - Biophysics, Georg-August-Universit\u00e4t G\u00f6ttingen, Friedrich- Hund-Platz 1, 37077, Germany","institution_ids":["https://openalex.org/I74656192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74656192"],"apc_list":null,"apc_paid":null,"fwci":7.7471,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.98009712,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4632","last_page":"4637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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":0.986299991607666,"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":0.9639000296592712,"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":0.9503108263015747},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.9228956699371338},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7425469756126404},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6117954254150391},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5775772333145142},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5168493390083313},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4762416183948517},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4584348797798157},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.41902169585227966},{"id":"https://openalex.org/keywords/reflex","display_name":"Reflex","score":0.41074472665786743},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34567970037460327},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34056633710861206},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2681271433830261},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2570745348930359},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.19738706946372986},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.1941070556640625},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.10554596781730652},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.06875085830688477},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06842651963233948}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9503108263015747},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.9228956699371338},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7425469756126404},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6117954254150391},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5775772333145142},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5168493390083313},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4762416183948517},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4584348797798157},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.41902169585227966},{"id":"https://openalex.org/C83974742","wikidata":"https://www.wikidata.org/wiki/Q179405","display_name":"Reflex","level":2,"score":0.41074472665786743},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34567970037460327},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34056633710861206},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2681271433830261},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2570745348930359},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.19738706946372986},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.1941070556640625},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.10554596781730652},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.06875085830688477},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06842651963233948},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W307858441","https://openalex.org/W1497531449","https://openalex.org/W1822001265","https://openalex.org/W1964047677","https://openalex.org/W1971017172","https://openalex.org/W1995837155","https://openalex.org/W2006207808","https://openalex.org/W2017705523","https://openalex.org/W2090840084","https://openalex.org/W2094473404","https://openalex.org/W2101490092","https://openalex.org/W2110578602","https://openalex.org/W2116105451","https://openalex.org/W2117145664","https://openalex.org/W2133241805","https://openalex.org/W2143826474","https://openalex.org/W2167390657","https://openalex.org/W2171014518","https://openalex.org/W2198632703","https://openalex.org/W2326001805","https://openalex.org/W2346367927","https://openalex.org/W3150785007","https://openalex.org/W6679615401","https://openalex.org/W6684586519"],"related_works":["https://openalex.org/W2944645064","https://openalex.org/W3034058602","https://openalex.org/W274690811","https://openalex.org/W2051884162","https://openalex.org/W3205883045","https://openalex.org/W2062532932","https://openalex.org/W2033671196","https://openalex.org/W2799469036","https://openalex.org/W4297982650","https://openalex.org/W2014019964"],"abstract_inverted_index":{"Insects,":[0],"e.g.":[1],"cockroaches":[2],"and":[3,42,67,92,100,107],"stick":[4],"insects,":[5],"have":[6,153],"found":[7],"fascinating":[8],"solutions":[9],"for":[10,47,59],"the":[11,125,128,165],"problem":[12],"of":[13,21,32,39,81,133,139],"locomotion,":[14],"especially":[15,68],"climbing":[16,75,159],"over":[17],"a":[18,55,103,113],"large":[19],"variety":[20],"obstacles.":[22],"Research":[23],"on":[24],"behavioral":[25,30],"neurobiology":[26],"has":[27],"identified":[28],"key":[29],"patterns":[31],"these":[33],"animals":[34],"(i.e.,":[35],"body":[36],"flexion,":[37],"center":[38],"mass":[40],"elevation,":[41],"local":[43,93],"leg":[44,94,141],"reflexes)":[45],"necessary":[46],"climbing.":[48],"Inspired":[49],"by":[50],"this":[51],"finding,":[52],"we":[53],"develop":[54],"neural":[56,84],"control":[57],"mechanism":[58,78],"hexapod":[60],"robots":[61,152],"which":[62,143],"generates":[63],"basic":[64],"walking":[65,116],"behavior":[66,160],"enables":[69],"them":[70],"to":[71,112,130,164],"effectively":[72],"perform":[73],"reactive":[74,88],"behavior.":[76],"The":[77,157],"is":[79,161],"composed":[80],"three":[82],"main":[83],"circuits:":[85],"locomotion":[86],"control,":[87,91],"backbone":[89],"joint":[90],"reflex":[95],"control.":[96],"It":[97],"was":[98,108],"developed":[99],"tested":[101],"using":[102],"physical":[104,114],"simulation":[105],"environment,":[106],"then":[109],"successfully":[110],"transferred":[111],"six-legged":[115],"machine,":[117],"called":[118],"AMOS":[119],"II.":[120],"Experimental":[121],"results":[122],"show":[123],"that":[124,148],"controller":[126],"allows":[127],"robot":[129],"overcome":[131],"obstacles":[132],"various":[134],"heights":[135],"(e.g.,":[136],"~":[137],"75%":[138],"its":[140],"length,":[142],"are":[144],"higher":[145],"than":[146],"those":[147],"other":[149],"comparable":[150,163],"legged":[151],"achieved":[154],"so":[155],"far).":[156],"generated":[158],"also":[162],"one":[166],"observed":[167],"in":[168],"cockroaches.":[169]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}