{"id":"https://openalex.org/W2154335552","doi":"https://doi.org/10.1109/tie.2010.2072892","title":"Evolving Gaits of a Hexapod Robot by Recurrent Neural Networks With Symbiotic Species-Based Particle Swarm Optimization","display_name":"Evolving Gaits of a Hexapod Robot by Recurrent Neural Networks With Symbiotic Species-Based Particle Swarm Optimization","publication_year":2010,"publication_date":"2010-09-07","ids":{"openalex":"https://openalex.org/W2154335552","doi":"https://doi.org/10.1109/tie.2010.2072892","mag":"2154335552"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2010.2072892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2010.2072892","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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":null,"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/A5076932590","display_name":"Yu\u2010Cheng Chang","orcid":"https://orcid.org/0000-0001-9244-0318"},"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":"Yu-Cheng Chang","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/A5033509185","display_name":"Che-Meng Hsiao","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":"Che-Meng Hsiao","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":2.1291,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.87131856,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"58","issue":"7","first_page":"3110","last_page":"3119"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.998199999332428,"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":0.998199999332428,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9765999913215637,"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"}},{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9757999777793884,"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":0.9663715958595276},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7960585951805115},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5728957056999207},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5646787881851196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5547142624855042},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5087411999702454},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.506058394908905},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.5050008893013},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.4707237780094147},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4639081358909607},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4488832354545593},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.4467952251434326},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43197494745254517},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36416304111480713},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28603583574295044},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14168113470077515},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13110029697418213},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07686489820480347},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.061733514070510864}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9663715958595276},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7960585951805115},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5728957056999207},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5646787881851196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5547142624855042},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5087411999702454},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.506058394908905},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.5050008893013},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.4707237780094147},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4639081358909607},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4488832354545593},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.4467952251434326},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43197494745254517},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36416304111480713},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28603583574295044},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14168113470077515},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13110029697418213},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07686489820480347},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.061733514070510864},{"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2010.2072892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2010.2072892","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.49000000953674316,"display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1608391772","https://openalex.org/W1802825888","https://openalex.org/W1989652873","https://openalex.org/W2012391952","https://openalex.org/W2014824949","https://openalex.org/W2017832196","https://openalex.org/W2018700142","https://openalex.org/W2041724917","https://openalex.org/W2042333307","https://openalex.org/W2082278239","https://openalex.org/W2083127301","https://openalex.org/W2105817839","https://openalex.org/W2108388069","https://openalex.org/W2111616957","https://openalex.org/W2118415523","https://openalex.org/W2118840131","https://openalex.org/W2119075627","https://openalex.org/W2120434311","https://openalex.org/W2133250218","https://openalex.org/W2133267871","https://openalex.org/W2134425046","https://openalex.org/W2134472919","https://openalex.org/W2136592556","https://openalex.org/W2140764512","https://openalex.org/W2141098240","https://openalex.org/W2142183404","https://openalex.org/W2144315657","https://openalex.org/W2144341408","https://openalex.org/W2162071065","https://openalex.org/W2162292398","https://openalex.org/W2162391026","https://openalex.org/W2164531580","https://openalex.org/W2164722364","https://openalex.org/W2169245194","https://openalex.org/W2170104456","https://openalex.org/W2170937782","https://openalex.org/W2171883856","https://openalex.org/W2489292218"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W2518382144","https://openalex.org/W1988876749","https://openalex.org/W3094438089","https://openalex.org/W65954170","https://openalex.org/W1600534566","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,12,36,54,62,99,109,162,169,181],"new":[4],"learning":[5],"approach":[6],"for":[7,144,154],"evolving":[8],"dynamic":[9,151],"gaits":[10],"of":[11,23,67,74,82,92,112,139],"hexapod":[13,149,171,183],"robot.":[14,172],"The":[15,65,79,137,173,187],"controller":[16,164,175],"that":[17],"coordinates":[18],"the":[19,32,51,58,72,89,142,160,192],"leg":[20],"movements":[21],"consists":[22],"fully":[24],"connected":[25],"recurrent":[26],"neural":[27],"networks":[28],"(FCRNNs).":[29],"To":[30],"automate":[31],"FCRNN":[33],"parameter":[34],"design,":[35],"symbiotic":[37,80,90],"species-based":[38],"particle":[39,100,113,133],"swarm":[40,55,114],"optimization":[41,115],"(SSPSO)":[42],"algorithm":[43,194],"is":[44,69,157,165,176,189],"proposed.":[45],"There":[46],"are":[47,124],"multiple":[48],"swarms":[49,68,86,105],"in":[50,76,95,103,127],"SSPSO,":[52],"where":[53],"only":[56],"optimizes":[57],"relevant":[59],"parameters":[60],"to":[61,71,88,131,180,199],"single":[63],"node.":[64],"number":[66,73],"equal":[70],"nodes":[75,94],"an":[77,96],"FCRNN.":[78,97],"behavior":[81],"particles":[83,102],"from":[84],"different":[85,93,104,196],"corresponds":[87],"structure":[91],"For":[98,159],"update,":[101],"update":[106],"independently":[107],"using":[108,141,168],"local":[110],"version":[111],"(PSO)":[116],"based":[117],"on":[118],"speciation.":[119],"In":[120],"each":[121,128],"swarm,":[122],"species":[123],"formed":[125],"adaptively":[126],"iteration":[129],"according":[130],"both":[132],"distance":[134],"and":[135,148,195,203],"performance.":[136],"design":[138],"FCRNNs":[140],"SSPSO":[143,188],"temporal":[145],"sequence":[146],"generation":[147],"robot":[150,184],"gait":[152,185],"evolution":[153],"forward":[155],"movement":[156],"conducted.":[158],"latter,":[161],"multiple-FCRNN":[163],"first":[166],"designed":[167,174],"simulated":[170],"then":[177],"successfully":[178],"applied":[179],"real":[182],"control.":[186],"compared":[190],"with":[191],"genetic":[193],"PSO":[197],"algorithms":[198],"verify":[200],"its":[201],"efficiency":[202],"effectiveness.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
