{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,31]],"date-time":"2026-01-31T05:49:57Z","timestamp":1769838597906,"version":"3.49.0"},"reference-count":42,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T00:00:00Z","timestamp":1765497600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T00:00:00Z","timestamp":1765497600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Soft Comput"],"published-print":{"date-parts":[[2026,1]]},"DOI":"10.1007\/s00500-025-10944-x","type":"journal-article","created":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T09:52:12Z","timestamp":1765533132000},"page":"491-513","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Biped robot\u2019s locomotion in complex environment using different neural networks and Q learning"],"prefix":"10.1007","volume":"30","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7272-1179","authenticated-orcid":false,"given":"Ruchi","family":"Panwar","sequence":"first","affiliation":[]},{"given":"N.","family":"Sukavanam","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,12,12]]},"reference":[{"key":"10944_CR1","doi-asserted-by":"publisher","first-page":"67","DOI":"10.3390\/app11156770","volume":"11","author":"A Abdi","year":"2021","unstructured":"Abdi A, Adhikari D, Park JH (2021) A novel hybrid path planning method based on Q-learning and neural network for robot arm. Appl Sci 11:67\u201370","journal-title":"Appl Sci"},{"key":"10944_CR2","doi-asserted-by":"crossref","unstructured":"Abdi A, Mohammad HR, Ju HP (2022) Computer vision-based path planning for robot arms in three-dimensional workspaces using Q-learning and neural networks. Sensors 22(5)","DOI":"10.3390\/s22051697"},{"issue":"5","key":"10944_CR3","doi-asserted-by":"publisher","first-page":"797","DOI":"10.1017\/S0263574710000767","volume":"29","author":"A Abe","year":"2011","unstructured":"Abe A (2011) Trajectory planning for flexible cartesian robot manipulator by using artificial neural network: numerical simulation and experimental verification. Robotica 29(5):797\u2013804","journal-title":"Robotica"},{"key":"10944_CR4","doi-asserted-by":"crossref","unstructured":"Abreu M, Reis LP, Lau N (2019) Learning to run faster in a humanoid robot soccer environment through reinforcement learning, in: Robot World Cup, Springer.3-15","DOI":"10.1007\/978-3-030-35699-6_1"},{"issue":"2","key":"10944_CR5","first-page":"229","volume":"17","author":"AM Andrew","year":"1999","unstructured":"Andrew AM (1999) Reinforcement learning: an introduction by Richard S. Sutton and Andrew G. Barto, Adaptive computation and machine learning series, MIT Press (Bradford Book), Cambridge, Mass., 1998, xviii+ 322 pp, ISBN 0-262-19398-1,(hardback, 31.95). Robotica 17(2):229\u2013235","journal-title":"Robotica"},{"key":"10944_CR6","doi-asserted-by":"publisher","DOI":"10.1007\/s10489-022-03921-6","author":"G Bhardwaj","year":"2022","unstructured":"Bhardwaj G, Mishra UA, Sukavanam N et al (2022) Neural network temporal quantized lagrange dynamics with cycloidal trajectory for a toe-foot bipedal robot to climb stairs. Appl Intell. https:\/\/doi.org\/10.1007\/s10489-022-03921-6","journal-title":"Appl Intell"},{"issue":"6","key":"10944_CR7","doi-asserted-by":"publisher","first-page":"675","DOI":"10.1163\/156855301317035197","volume":"15","author":"G Capi","year":"2001","unstructured":"Capi G, Nasu Y, Baroll L, Mitobe K, Takeda K (2001) Application of genetic algorithms for biped robot gait synthesis optimization during walking and going up stairs. Advanced in Robotics 15(6):675\u2013694","journal-title":"Advanced in Robotics"},{"issue":"6","key":"10944_CR8","doi-asserted-by":"publisher","first-page":"1299","DOI":"10.1007\/s10845-014-0952-1","volume":"27","author":"H Chaudhary","year":"2016","unstructured":"Chaudhary H, Prasad R, Sukavanam N, Panwar V (2016) Adaptive neuro fuzzy based hybrid force\/position control for an industrial robot manipulator. J Intell Manuf 27(6):1299\u20131308","journal-title":"J Intell Manuf"},{"key":"10944_CR9","doi-asserted-by":"publisher","first-page":"104","DOI":"10.1016\/j.eswa.2016.06.021","volume":"62","author":"M Duguleana","year":"2016","unstructured":"Duguleana M, Mogan G (2016) Neural networks based reinforcement learning for mobile robots obstacle avoidance. Expert Syst Appl 62:104\u2013115","journal-title":"Expert Syst Appl"},{"issue":"2","key":"10944_CR10","doi-asserted-by":"publisher","first-page":"213","DOI":"10.1177\/0278364907084980","volume":"27","author":"G Endo","year":"2008","unstructured":"Endo G, Morimoto J, Matsubara T, Nakanishi J, Cheng G (2008) Learning cpg based biped locomotion with a policy gradient method: application to a humanoid robot. Int J Robot Res 27(2):213\u2013228","journal-title":"Int J Robot Res"},{"issue":"1","key":"10944_CR11","doi-asserted-by":"publisher","first-page":"24","DOI":"10.1109\/TNN.2004.836233","volume":"16","author":"S Ferrari","year":"2005","unstructured":"Ferrari S, Stengel RF (2005) Smooth function approximation using neural networks. IEEE Trans Neural Netw 16(1):24\u201338","journal-title":"IEEE Trans Neural Netw"},{"key":"10944_CR12","unstructured":"Huang, Bing Q, Guang YC, Min G (2005) Reinforcement learning neural network to the problem of autonomous mobile robot obstacle avoidance. International conference on machine learning and cybernetics IEEE 1"},{"issue":"2","key":"10944_CR13","doi-asserted-by":"publisher","first-page":"131","DOI":"10.1163\/156855303321165097","volume":"17","author":"S Kajita","year":"2003","unstructured":"Kajita S, Kanehir F, Kaneko K, Fujiwara K, Yokoi K, Hirukawa H (2003) Biped walking pattern generation by a simple three-dimensional inverted pendulum model. Adv Robot 17(2):131\u2013147","journal-title":"Adv Robot"},{"key":"10944_CR14","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103900","volume":"146","author":"M Kasaei","year":"2021","unstructured":"Kasaei M, Abreu M, Lau N, Pereira A, Reis LP (2021) Robust biped locomotion using deep reinforcement learning on top of an analytical control approach. Robot Auton Syst 146:103900","journal-title":"Robot Auton Syst"},{"key":"10944_CR15","doi-asserted-by":"publisher","first-page":"743","DOI":"10.1016\/j.jocs.2014.01.006","volume":"5","author":"N Kherici","year":"2014","unstructured":"Kherici N, Ali YMB (2014) Using PSO for a walk of a biped robot. J Comput Sci 5:743\u2013749","journal-title":"J Comput Sci"},{"issue":"9","key":"10944_CR16","first-page":"1021","volume":"4","author":"H Khodadadi","year":"2012","unstructured":"Khodadadi H, Razavi SE, Hossein AN (2012) A comparison between neural networks and wavelet networks in nonlinear system identification. Res J Appl Sci Eng Technol 4(9):1021\u20131026","journal-title":"Res J Appl Sci Eng Technol"},{"key":"10944_CR17","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103891","volume":"146","author":"C Kouppas","year":"2021","unstructured":"Kouppas C, Saada M, Meng Q, King M, Majoe D (2021) Hybrid autonomous controller for bipedal robot balance with deep reinforcement learning and pattern generators. Robot Auton Syst 146:103891","journal-title":"Robot Auton Syst"},{"issue":"5","key":"10944_CR18","first-page":"9453","volume":"40","author":"R Kumar","year":"2021","unstructured":"Kumar R, Singh L, Tiwari R (2021) Path planning for the autonomous robots using modified grey wolf optimization approach. J Intell Fuzzy Syst 40(5):9453\u20139470","journal-title":"J Intell Fuzzy Syst"},{"issue":"5","key":"10944_CR19","doi-asserted-by":"publisher","first-page":"987","DOI":"10.1109\/72.712178","volume":"9","author":"IE Lagaris","year":"1998","unstructured":"Lagaris IE, Likas AC, Fotiadis DI (1998) Artificial neural networks for solving ordinary and partial differential equations. IEEE Trans Neural Netw 9(5):987\u20131000","journal-title":"IEEE Trans Neural Netw"},{"key":"10944_CR20","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1016\/j.robot.2015.12.002","volume":"77","author":"J Liu","year":"2016","unstructured":"Liu J, Urbann O (2016) Bipedal walking with dynamic balance that involves three-dimensional upper body motion. Robot Auton Syst 77:39\u201354","journal-title":"Robot Auton Syst"},{"issue":"5","key":"10944_CR21","doi-asserted-by":"publisher","first-page":"1206","DOI":"10.1109\/TSMC.2012.2235426","volume":"43","author":"C Liu","year":"2013","unstructured":"Liu C, Wang D, Chen Q (2013) Central pattern generator inspired control for adaptive walking of biped robots. IEEE Trans Syst Man Cybern Syst 43(5):1206\u20131215","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"key":"10944_CR22","doi-asserted-by":"publisher","first-page":"572","DOI":"10.1016\/S1672-6529(16)60329-3","volume":"13","author":"C Liu","year":"2016","unstructured":"Liu C, Wang D, Goodman ED, Chen Q (2016) Adaptive walking control of biped robots using online trajectory generation method based on neural oscillators. J Bionic Eng 13:572\u2013584","journal-title":"J Bionic Eng"},{"key":"10944_CR23","doi-asserted-by":"publisher","DOI":"10.3390\/app11041587","volume":"11","author":"C Liu","year":"2021","unstructured":"Liu C, Gao J, Tian D, Zhang X, Liu H, Meng L (2021) A disturbance rejection control method based on deep reinforcement learning for a biped robot. Appl Sci 11:1587","journal-title":"Appl Sci"},{"key":"10944_CR24","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1016\/j.robot.2019.02.013","volume":"115","author":"S LowE","year":"2019","unstructured":"LowE S, Ong P, Cheah KC (2019) Solving the optimal path planning of a mobile robot using improved Q-learning. Robot Auton Syst 115:143\u2013161","journal-title":"Robot Auton Syst"},{"issue":"13","key":"10944_CR25","doi-asserted-by":"publisher","first-page":"6131","DOI":"10.1007\/s00500-022-07075-y","volume":"26","author":"X Na","year":"2022","unstructured":"Na X, Wang J, Han M, Li D (2022) Gradient eigendecomposition invariance biogeography-based optimization for mobile robot path planning. Soft Comput 26(13):6131\u20136144","journal-title":"Soft Comput"},{"key":"10944_CR26","doi-asserted-by":"publisher","first-page":"84648","DOI":"10.1109\/ACCESS.2022.3197628","volume":"10","author":"U Orozco-Rosas","year":"2022","unstructured":"Orozco-Rosas U, Picos K, Pantrigo JJ, Montemayor AS, Cuesta-Infante A (2022) Mobile robot path planning using a QAPF learning algorithm for known and unknown environments. IEEE Access 10:84648\u201384663","journal-title":"IEEE Access"},{"key":"10944_CR27","doi-asserted-by":"publisher","first-page":"1488","DOI":"10.1017\/S0263574716000278","volume":"35","author":"V Panwar","year":"2017","unstructured":"Panwar V (2017) Wavelet neural network-based H infinity trajectory tracking for robot manipulators using fast terminal sliding mode control. Robotica 35:1488\u20131503","journal-title":"Robotica"},{"key":"10944_CR28","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-018-3842-1","author":"R Panwar","year":"2018","unstructured":"Panwar R, Sukavanam N (2018) Trajectory tracking using artificial neural network for stable human-like gait with upper body motion. Neural Comput Appl. https:\/\/doi.org\/10.1007\/s00521-018-3842-1","journal-title":"Neural Comput Appl"},{"key":"10944_CR29","doi-asserted-by":"crossref","unstructured":"Panwar R, Sukavanam N (2019) Effect of upper body motion on biped robot stability. Decision Science in Action: Theory and Applications of Modern Decision Analytic Optimisation, 237-250","DOI":"10.1007\/978-981-13-0860-4_18"},{"key":"10944_CR30","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2021.107601","volume":"110","author":"S Saeedvand","year":"2021","unstructured":"Saeedvand S, Mandala H, Baltes J (2021) Hierarchical deep reinforcement learning to drag heavy objects by adult-sized humanoid robot. Appl Soft Comput 110:107605","journal-title":"Appl Soft Comput"},{"key":"10944_CR31","doi-asserted-by":"publisher","first-page":"583","DOI":"10.1007\/s10846-018-0882-9","volume":"94","author":"A Sarkar","year":"2019","unstructured":"Sarkar A, Dutta A (2019) Optimal trajectory generation and design of an 8-dof compliant biped robot for walk on inclined ground. J Intell Robot Syst 94:583\u2013602","journal-title":"J Intell Robot Syst"},{"key":"10944_CR32","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1016\/j.robot.2014.11.010","volume":"65","author":"VB Semwal","year":"2015","unstructured":"Semwal VB, Raj M, Nandi GC (2015) Biometric gait identification based on a multilayer perceptron. Robot Auton Syst 65:65\u201375","journal-title":"Robot Auton Syst"},{"key":"10944_CR33","first-page":"1930","volume":"3","author":"J Shan","year":"2000","unstructured":"Shan J, Junshi C, Jiapin C (2000) Design of central pattern generator for humanoid robot walking based on multi-objective GA. Proceedings on International Conference on Intelligent Robots and Systems 3:1930\u20131935","journal-title":"Proceedings on International Conference on Intelligent Robots and Systems"},{"issue":"8","key":"10944_CR34","doi-asserted-by":"publisher","first-page":"1137","DOI":"10.1016\/S0735-1933(03)00179-9","volume":"30","author":"N Sukavanam","year":"2003","unstructured":"Sukavanam N, Panwar V (2003) Computation of boundary control of controlled heat equation using artificial neural networks. Int Commun Heat Mass Transfer 30(8):1137\u20131146","journal-title":"Int Commun Heat Mass Transfer"},{"issue":"1","key":"10944_CR35","doi-asserted-by":"publisher","first-page":"157","DOI":"10.1142\/S0219843604000083","volume":"1","author":"M Vukobratovac","year":"2004","unstructured":"Vukobratovac M, Borovac B (2004) Zero-moment point-thirty five years of its life. Int J Humanoid Robot 1(1):157\u2013173","journal-title":"Int J Humanoid Robot"},{"key":"10944_CR36","doi-asserted-by":"publisher","first-page":"191","DOI":"10.1016\/j.asoc.2008.04.004","volume":"9","author":"PR Vundavilli","year":"2009","unstructured":"Vundavilli PR, Pratihar DK (2009) Soft computing-based gait planners for a dynamically balanced biped robot negotiating sloping surfaces. Appl Soft Comput 9:191\u2013208","journal-title":"Appl Soft Comput"},{"key":"10944_CR37","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2021.107605","volume":"110","author":"S Wen","year":"2021","unstructured":"Wen S, Wen Z, Zhang D, Zhang H, Wang T (2021) A multi-robot path-planning algorithm for autonomous navigation using meta-reinforcement learning based on transfer learning. Appl Soft Comput 110:107605","journal-title":"Appl Soft Comput"},{"key":"10944_CR38","unstructured":"Wong CC, Cheng CT, Huang KH, Yang YT (2008) Fuzzy control of humanoid robot for obstacle avoidance. International Journal of Fuzzy Systems 10(1)"},{"key":"10944_CR39","doi-asserted-by":"crossref","unstructured":"Xu W et al (2011) An improved ZMP trajectory design for the biped robot BHR. Proceedings of the IEEE - ICRA, Shanghai, China, 569-574","DOI":"10.1109\/ICRA.2011.5980007"},{"key":"10944_CR40","first-page":"20","volume":"23","author":"Y Yin","year":"2023","unstructured":"Yin Y, Chen Z, Liu G, Guo J (2023) A mapless local path planning approach using deep reinforcement learning framework. Sensors (Basel) 23:20\u201336","journal-title":"Sensors (Basel)"},{"key":"10944_CR41","doi-asserted-by":"publisher","first-page":"292","DOI":"10.1016\/j.neunet.2023.08.030","volume":"167","author":"Y Zhang","year":"2023","unstructured":"Zhang Y, Thor M, Dilokthanakul N, Dai Z, Manoonpong P (2023) Hybrid learning mechanisms under a neural control network for various walking speed generation of a quadruped robot. Neural Netw 167:292\u2013308","journal-title":"Neural Netw"},{"issue":"4","key":"10944_CR42","doi-asserted-by":"publisher","first-page":"469","DOI":"10.1108\/IR-01-2018-0011","volume":"45","author":"H Zhu","year":"2018","unstructured":"Zhu H, Luo M, Li J (2018) Optimization-based gait planning and control for biped robots utilizing the optimal allowable ZMP variation region. Ind Robot 45(4):469\u2013480","journal-title":"Ind Robot"}],"container-title":["Soft Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00500-025-10944-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00500-025-10944-x","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00500-025-10944-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,30]],"date-time":"2026-01-30T15:55:20Z","timestamp":1769788520000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00500-025-10944-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,12]]},"references-count":42,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,1]]}},"alternative-id":["10944"],"URL":"https:\/\/doi.org\/10.1007\/s00500-025-10944-x","relation":{},"ISSN":["1432-7643","1433-7479"],"issn-type":[{"value":"1432-7643","type":"print"},{"value":"1433-7479","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,12,12]]},"assertion":[{"value":"2 February 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 October 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 December 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Both the authors declared that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}},{"value":"This article does not contain any studies with animals performed by any of the authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}}]}}