{"id":"https://openalex.org/W2152908947","doi":"https://doi.org/10.1109/robot.2004.1307385","title":"Intelligent gait synthesizer for hexapod walking rescue robots","display_name":"Intelligent gait synthesizer for hexapod walking rescue robots","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2152908947","doi":"https://doi.org/10.1109/robot.2004.1307385","mag":"2152908947"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5070178514","display_name":"Emre Karalarli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"E. Karalarli","raw_affiliation_strings":["Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ankara, Turkey","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010484989","display_name":"Aydan M. Erkmen","orcid":"https://orcid.org/0000-0002-5194-1121"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"A.M. Erkmen","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010484989","display_name":"Aydan M. Erkmen","orcid":"https://orcid.org/0000-0002-5194-1121"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"I. Erkmen","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8948,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.76276111,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2177","last_page":"2182 Vol.3"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9508601427078247},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7214128971099854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.583153247833252},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5545894503593445},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5491474270820618},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5015335083007812},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.48717066645622253},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4207960069179535},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3886486291885376},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3512415289878845},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34218910336494446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20548951625823975},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1489512324333191},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.11972004175186157}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9508601427078247},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7214128971099854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.583153247833252},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5545894503593445},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5491474270820618},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5015335083007812},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.48717066645622253},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4207960069179535},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3886486291885376},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3512415289878845},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34218910336494446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20548951625823975},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1489512324333191},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.11972004175186157},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1307385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1976900088","https://openalex.org/W2042407741","https://openalex.org/W2072000267","https://openalex.org/W2130764388","https://openalex.org/W2158316397","https://openalex.org/W2166089289","https://openalex.org/W2334664435"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W2789574804","https://openalex.org/W613729187","https://openalex.org/W2063353256","https://openalex.org/W2114803124","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W132946187","https://openalex.org/W2166802441","https://openalex.org/W2514466123"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3,7,29,113],"gait":[4,19,40,89],"synthesizer":[5,20,90],"for":[6,27,91],"hexapod":[8,62],"robot":[9],"working":[10],"in":[11,56,75],"search":[12,92],"and":[13,36,93],"rescue":[14,94],"operations":[15,95],"is":[16,21,54],"designed.":[17],"The":[18],"composed":[22],"of":[23,46,79,87,109,112],"three":[24],"modules":[25],"responsible":[26],"selecting":[28,57],"new":[30,59],"gait,":[31],"evaluating":[32],"tide":[33],"current":[34],"one,":[35],"modifying":[37,115],"the":[38,43,58,73,76,80,85,88,101],"recommended":[39],"according":[41],"to":[42,71,100],"internal":[44],"reinforcements":[45],"past":[47],"time":[48],"steps.":[49],"A":[50],"fuzzy":[51,69],"logic":[52],"controller":[53],"implemented":[55],"gaits.":[60],"Different":[61],"wave":[63],"gaits":[64,74,116],"are":[65,120],"encoded":[66],"within":[67],"its":[68,98],"rules":[70],"model":[72],"rule":[77],"base":[78],"controller.":[81],"Simulation":[82],"results":[83],"demonstrate":[84],"potential":[86],"such":[96],"as":[97,122],"adaptability":[99],"uneven":[102],"terrain":[103],"by":[104],"shaping":[105],"gaits,":[106],"getting":[107],"out":[108],"an":[110],"entrapment":[111],"leg,":[114],"when":[117],"some":[118],"legs":[119],"used":[121],"manipulators.":[123]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}