{"id":"https://openalex.org/W4390119990","doi":"https://doi.org/10.1109/tcds.2023.3345539","title":"Hierarchical Multicontact Motion Planning of Hexapod Robots With Incremental Reinforcement Learning","display_name":"Hierarchical Multicontact Motion Planning of Hexapod Robots With Incremental Reinforcement Learning","publication_year":2023,"publication_date":"2023-12-22","ids":{"openalex":"https://openalex.org/W4390119990","doi":"https://doi.org/10.1109/tcds.2023.3345539"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2023.3345539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2023.3345539","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"is_oa":false,"is_in_doaj":false,"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 Transactions on Cognitive and Developmental Systems","raw_type":"journal-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/A5031185739","display_name":"Kaiqiang Tang","orcid":"https://orcid.org/0000-0002-7456-0962"},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiqiang Tang","raw_affiliation_strings":["Department of Control Science and Intelligent Engineering, School of Management and Engineering, Nanjing University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-7456-0962","affiliations":[{"raw_affiliation_string":"Department of Control Science and Intelligent Engineering, School of Management and Engineering, Nanjing University, Nanjing, China","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025551679","display_name":"Huiqiao Fu","orcid":"https://orcid.org/0000-0001-9403-2449"},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiqiao Fu","raw_affiliation_strings":["Department of Control Science and Intelligent Engineering, School of Management and Engineering, Nanjing University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9403-2449","affiliations":[{"raw_affiliation_string":"Department of Control Science and Intelligent Engineering, School of Management and Engineering, Nanjing University, Nanjing, China","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036760439","display_name":"Guizhou Deng","orcid":"https://orcid.org/0000-0001-6589-4402"},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guizhou Deng","raw_affiliation_strings":["Department of Process equipment and control engineering, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang, China"],"raw_orcid":"https://orcid.org/0000-0001-6589-4402","affiliations":[{"raw_affiliation_string":"Department of Process equipment and control engineering, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang, China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114860490","display_name":"Xinpeng Wang","orcid":"https://orcid.org/0000-0002-3031-0056"},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinpeng Wang","raw_affiliation_strings":["Department of Process equipment and control engineering, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang, China"],"raw_orcid":"https://orcid.org/0000-0002-3031-0056","affiliations":[{"raw_affiliation_string":"Department of Process equipment and control engineering, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang, China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100697167","display_name":"Chunlin Chen","orcid":"https://orcid.org/0000-0003-3929-4707"},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunlin Chen","raw_affiliation_strings":["Department of Control Science and Intelligent Engineering, School of Management and Engineering, Nanjing University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-3929-4707","affiliations":[{"raw_affiliation_string":"Department of Control Science and Intelligent Engineering, School of Management and Engineering, Nanjing University, Nanjing, China","institution_ids":["https://openalex.org/I881766915"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.41,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.58027069,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"16","issue":"4","first_page":"1327","last_page":"1341"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.9991999864578247,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9779999852180481,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9779000282287598,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.8942537903785706},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8171947002410889},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7904380559921265},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7901259064674377},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7150442600250244},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6549451351165771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5169298052787781},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4813438355922699},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42137137055397034}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.8942537903785706},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8171947002410889},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7904380559921265},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7901259064674377},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7150442600250244},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6549451351165771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5169298052787781},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4813438355922699},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42137137055397034},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2023.3345539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2023.3345539","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"is_oa":false,"is_in_doaj":false,"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 Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5600000023841858}],"awards":[{"id":"https://openalex.org/G7996831764","display_name":null,"funder_award_id":"62073160","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1512719907","https://openalex.org/W2065238107","https://openalex.org/W2107955862","https://openalex.org/W2203022174","https://openalex.org/W2591831781","https://openalex.org/W2634239194","https://openalex.org/W2736601468","https://openalex.org/W2738799195","https://openalex.org/W2739146943","https://openalex.org/W2739330054","https://openalex.org/W2767178383","https://openalex.org/W2784385056","https://openalex.org/W2787801374","https://openalex.org/W2788030459","https://openalex.org/W2789286310","https://openalex.org/W2791797404","https://openalex.org/W2911087563","https://openalex.org/W2912681837","https://openalex.org/W2917322258","https://openalex.org/W2944029615","https://openalex.org/W2949169393","https://openalex.org/W2964114602","https://openalex.org/W2968717280","https://openalex.org/W2989680800","https://openalex.org/W3006422628","https://openalex.org/W3010768390","https://openalex.org/W3016507688","https://openalex.org/W3039737909","https://openalex.org/W3042275200","https://openalex.org/W3046093665","https://openalex.org/W3104883169","https://openalex.org/W3107113899","https://openalex.org/W3113254760","https://openalex.org/W3128295832","https://openalex.org/W3164399840","https://openalex.org/W3177184855","https://openalex.org/W3183038449","https://openalex.org/W3186325801","https://openalex.org/W3190941931","https://openalex.org/W3191163823","https://openalex.org/W3206804182","https://openalex.org/W3210408793","https://openalex.org/W3213426571","https://openalex.org/W4205344192","https://openalex.org/W4211122488","https://openalex.org/W4226427994","https://openalex.org/W4281693658","https://openalex.org/W4293143512","https://openalex.org/W4310915349","https://openalex.org/W4317624859","https://openalex.org/W4319068706","https://openalex.org/W4323926613","https://openalex.org/W4378078060","https://openalex.org/W4386869777","https://openalex.org/W6734517396","https://openalex.org/W6741002519","https://openalex.org/W6748082483","https://openalex.org/W6798795566"],"related_works":["https://openalex.org/W3097667865","https://openalex.org/W2768698792","https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Legged":[0],"locomotion":[1],"in":[2,103,134],"unstructured":[3,37],"environments":[4,38],"with":[5,22,39,92],"static":[6],"and":[7,48,70,77,120,131,151,161],"dynamic":[8,136],"obstacles":[9],"is":[10,146],"challenging.":[11],"This":[12],"paper":[13],"proposes":[14],"a":[15,44],"novel":[16,45],"Hierarchical":[17],"Multi-Contact":[18],"motion":[19,58],"planning":[20,59,63,71],"method":[21,91,145],"Incremental":[23,108,121],"Reinforcement":[24],"Learning":[25],"(HMC-IRL)":[26],"that":[27],"enables":[28],"hexapod":[29],"robots":[30],"to":[31,55,96,100,113,127],"pass":[32],"through":[33],"large-scale":[34],"discrete":[35],"complex":[36],"local":[40,101],"changes":[41,102],"occurring.":[42],"Firstly,":[43],"hierarchical":[46],"structure":[47],"an":[49,93],"information":[50],"fusion":[51],"mechanism":[52],"are":[53,168],"developed":[54],"decompose":[56],"multi-contact":[57],"into":[60],"two":[61],"stages:":[62],"the":[64,72,82,89,104,115,129,135,142,155,159,164],"high":[65],"level":[66,74],"prior":[67,83,117],"grid":[68,84,118],"path":[69,119],"low":[73],"detailed":[75],"COM":[76,130],"foothold":[78,132],"sequences":[79,133],"based":[80],"on":[81,148],"path.":[85],"Secondly,":[86],"we":[87],"leverage":[88],"HMC-IRL":[90,144],"incremental":[94],"architecture":[95],"enable":[97],"swift":[98],"adaptation":[99],"environment,":[105],"which":[106],"includes":[107],"Soft":[109],"Q-Learning":[110],"(ISQL)":[111],"algorithm":[112,126],"obtain":[114,128],"optimal":[116],"Proximal":[122],"Policy":[123],"Optimization":[124],"(IPPO)":[125],"plum":[137],"blossom":[138],"pile":[139],"environment.":[140],"Finally,":[141],"integrated":[143],"tested":[147],"both":[149],"simulated":[150],"real":[152],"systems.":[153],"All":[154],"experimental":[156],"results":[157],"demonstrate":[158],"feasibility":[160],"efficiency":[162],"of":[163],"proposed":[165],"method.":[166],"Videos":[167],"shown":[169],"at":[170],"<uri":[171],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[172],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">http://www.hexapod.cn/hmcirl.html</uri>":[173],".":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
