{"id":"https://openalex.org/W4319068706","doi":"https://doi.org/10.1109/tii.2023.3240758","title":"Hierarchical Free Gait Motion Planning for Hexapod Robots Using Deep Reinforcement Learning","display_name":"Hierarchical Free Gait Motion Planning for Hexapod Robots Using Deep Reinforcement Learning","publication_year":2023,"publication_date":"2023-02-03","ids":{"openalex":"https://openalex.org/W4319068706","doi":"https://doi.org/10.1109/tii.2023.3240758"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2023.3240758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2023.3240758","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","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/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","Department of process equipment and control engineering, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang, China"],"raw_orcid":null,"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"]},{"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/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 and Systems 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 and Systems 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","Department of process equipment and control engineering, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang, China"],"raw_orcid":null,"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"]},{"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/A5047792053","display_name":"Canghai Liu","orcid":"https://orcid.org/0009-0004-4890-1825"},"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":"Canghai Liu","raw_affiliation_strings":["Department of Process Equipment and Control Engineering, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang, China","Department of process equipment and control engineering, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang, China"],"raw_orcid":null,"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"]},{"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/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 and Systems 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 and Systems Engineering, School of Management and Engineering, Nanjing University, Nanjing, China","institution_ids":["https://openalex.org/I881766915"]}]},{"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 and Systems 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 and Systems Engineering, School of Management and Engineering, Nanjing University, Nanjing, China","institution_ids":["https://openalex.org/I881766915"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5627,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.89385922,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"19","issue":"11","first_page":"10901","last_page":"10912"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9932000041007996,"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":0.9861999750137329,"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":0.9438722729682922},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8022469282150269},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7710511684417725},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6155790686607361},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5923891067504883},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5630947947502136},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5363994836807251},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5097545981407166},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47178885340690613},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40950143337249756},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07711982727050781},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.05844557285308838}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9438722729682922},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8022469282150269},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7710511684417725},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6155790686607361},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5923891067504883},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5630947947502136},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5363994836807251},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5097545981407166},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47178885340690613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40950143337249756},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07711982727050781},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.05844557285308838},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2023.3240758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2023.3240758","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11"}],"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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1968125515","https://openalex.org/W1970241214","https://openalex.org/W1982100856","https://openalex.org/W1985161922","https://openalex.org/W2023093568","https://openalex.org/W2035129500","https://openalex.org/W2101207292","https://openalex.org/W2107955862","https://openalex.org/W2145339207","https://openalex.org/W2161870633","https://openalex.org/W2167896722","https://openalex.org/W2791797404","https://openalex.org/W2803780405","https://openalex.org/W2810228177","https://openalex.org/W2892076060","https://openalex.org/W2911087563","https://openalex.org/W2912681837","https://openalex.org/W2990613219","https://openalex.org/W2996754324","https://openalex.org/W3010768390","https://openalex.org/W3042275200","https://openalex.org/W3092757497","https://openalex.org/W3127085325","https://openalex.org/W3149383640","https://openalex.org/W3169595572","https://openalex.org/W3180167663","https://openalex.org/W3191163823","https://openalex.org/W3202797049","https://openalex.org/W3208040451","https://openalex.org/W3212826513","https://openalex.org/W4205344192","https://openalex.org/W4205368674","https://openalex.org/W4213458259","https://openalex.org/W4214743713","https://openalex.org/W4224255042","https://openalex.org/W4229066299","https://openalex.org/W6752573863"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W613729187","https://openalex.org/W2789574804","https://openalex.org/W2114803124","https://openalex.org/W2063353256","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W4389787393","https://openalex.org/W3097667865","https://openalex.org/W2969223576"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,38,61,70,76,90,96,99,101,108,113,126,132],"problem":[4],"of":[5,131],"legged":[6],"locomotion":[7],"in":[8,49,56,75,122],"unstructured":[9],"environments,":[10],"and":[11,30,53,98,129],"a":[12,81],"novel":[13],"Hierarchical":[14],"multi-contact":[15,42],"motion":[16,28,43],"planning":[17,29,44,48,55],"method":[18],"for":[19],"hexapod":[20],"robots":[21],"is":[22,66,86,105],"proposed":[23,87,133],"by":[24,107],"combining":[25],"Free":[26,82],"Gait":[27,83],"Deep":[31,63,115],"Reinforcement":[32,116],"Learning":[33,117],"(HFG-DRL).":[34],"We":[35],"structurally":[36],"decompose":[37],"complex":[39],"free":[40],"gait":[41,54,91],"task":[45],"into":[46],"path":[47,73],"discrete":[50],"state":[51,58],"space":[52],"continuous":[57],"space.":[59],"Firstly,":[60],"Soft":[62],"Q-Network":[64],"(SDQN)":[65],"used":[67],"to":[68,88],"obtain":[69,89],"global":[71],"prior":[72],"information":[74],"Path":[77],"Planner":[78,84],"(PP).":[79],"Secondly,":[80],"(FGP)":[85],"sequence.":[92],"Finally,":[93],"based":[94],"on":[95],"PP":[97],"FGP,":[100],"Center-of-Mass":[102],"(CoM)":[103],"sequence":[104],"generated":[106],"trained":[109],"optimal":[110],"policy":[111],"using":[112],"designed":[114],"(DRL)":[118],"algorithm.":[119],"Experimental":[120],"results":[121],"different":[123],"environments":[124],"demonstrate":[125],"feasibility,":[127],"effectiveness,":[128],"advancement":[130],"method.":[134],"Videos":[135],"are":[136],"shown":[137],"at":[138],"<uri":[139],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[140],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">http://www.hexapod.cn/hfg-drl.html</uri>":[141],".":[142]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}