{"id":"https://openalex.org/W7117448219","doi":"https://doi.org/10.1109/tetci.2025.3645588","title":"An Autonomous Hexapod Robot With CPG NN- Based Terrain Adaptation Gait and Evolutionary Interpretable Fuzzy Wall-Following Control","display_name":"An Autonomous Hexapod Robot With CPG NN- Based Terrain Adaptation Gait and Evolutionary Interpretable Fuzzy Wall-Following Control","publication_year":2025,"publication_date":"2025-12-29","ids":{"openalex":"https://openalex.org/W7117448219","doi":"https://doi.org/10.1109/tetci.2025.3645588"},"language":null,"primary_location":{"id":"doi:10.1109/tetci.2025.3645588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tetci.2025.3645588","pdf_url":null,"source":{"id":"https://openalex.org/S4210210251","display_name":"IEEE Transactions on Emerging Topics in Computational Intelligence","issn_l":"2471-285X","issn":["2471-285X"],"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 Emerging Topics in Computational Intelligence","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/A5028317740","display_name":"Chia\u2010Feng Juang","orcid":"https://orcid.org/0000-0002-3713-4315"},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chia-Feng Juang","raw_affiliation_strings":["Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-3713-4315","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan","institution_ids":["https://openalex.org/I162838928"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121511229","display_name":"Bing-Ruei He","orcid":null},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Bing-Ruei He","raw_affiliation_strings":["Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan","institution_ids":["https://openalex.org/I162838928"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055783605","display_name":"Cheng\u2010Chieh Tsai","orcid":"https://orcid.org/0000-0002-7140-2766"},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Cheng-Chieh Tsai","raw_affiliation_strings":["Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan","institution_ids":["https://openalex.org/I162838928"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162838928"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.50240818,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"2","first_page":"1256","last_page":"1270"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9560999870300293,"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":0.9560999870300293,"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":0.029200000688433647,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.004600000102072954,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.9782999753952026},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.7738000154495239},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6743000149726868},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.659500002861023},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5662000179290771},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5457000136375427},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5117999911308289},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.475600004196167},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.3709999918937683}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9782999753952026},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.7738000154495239},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6743000149726868},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.659500002861023},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5662000179290771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5629000067710876},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5457000136375427},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5117999911308289},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.475600004196167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45320001244544983},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.3709999918937683},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.357699990272522},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.3409000039100647},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33239999413490295},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3310000002384186},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32839998602867126},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3222000002861023},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.31299999356269836},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29269999265670776},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2777999937534332},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.27570000290870667},{"id":"https://openalex.org/C2780049643","wikidata":"https://www.wikidata.org/wiki/Q5511139","display_name":"Fuzzy rule","level":4,"score":0.27250000834465027},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.25220000743865967}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tetci.2025.3645588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tetci.2025.3645588","pdf_url":null,"source":{"id":"https://openalex.org/S4210210251","display_name":"IEEE Transactions on Emerging Topics in Computational Intelligence","issn_l":"2471-285X","issn":["2471-285X"],"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 Emerging Topics in Computational Intelligence","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,41],"paper":[1,42,68,104],"proposes":[2,43,105],"an":[3,70],"autonomous":[4],"hexapod":[5,147],"robot":[6,31,148],"with":[7,126],"the":[8,26,30,51,77,85,118,136,139,150,153],"abilities":[9],"of":[10,29,54,80,138,152],"gait":[11,23,28],"adaptation":[12,24],"to":[13,49,57,75,83,116,134],"uneven":[14,62],"terrain":[15],"and":[16,112,121,124,129],"walking":[17],"along":[18],"a":[19,44,106,145],"wall.":[20],"In":[21,64],"lower-level":[22],"control,":[25,66],"forward-walking":[27],"is":[32],"generated":[33],"using":[34],"central":[35],"pattern":[36],"generator":[37],"(CPG)":[38],"neural":[39],"networks.":[40],"memory-based,":[45],"proportional-derivative":[46],"(m-PD)":[47],"controller":[48],"control":[50,76,93,128,141,154],"CPG":[52,78],"waves":[53,79],"knee":[55],"joints":[56,82],"maintain":[58],"body":[59],"balance":[60],"on":[61,144],"terrain.":[63],"higher-level":[65],"this":[67,103],"employs":[69],"interpretable":[71],"fuzzy":[72],"system":[73],"(IFS)":[74],"hip":[81],"execute":[84],"wall-following":[86],"task.":[87],"The":[88],"IFS":[89,109,119],"considers":[90],"not":[91],"only":[92],"performance":[94],"but":[95],"also":[96],"model":[97],"interpretability.":[98],"To":[99],"improve":[100],"learning":[101,130],"performance,":[102],"multiobjective":[107],"evolutionary":[108],"through":[110],"rule":[111],"fuzzy-set":[113],"pruning":[114],"(MEIFS-RFP)":[115],"optimize":[117],"structure":[120],"parameters.":[122],"Simulations":[123],"comparisons":[125],"different":[127],"methods":[131],"are":[132],"performed":[133],"show":[135,149],"advantages":[137],"proposed":[140],"approach.":[142],"Experiments":[143],"real":[146,157],"effectiveness":[151],"approach":[155],"in":[156],"environments.":[158]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-12-29T00:00:00"}