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First, the modified Hopf oscillator is used to construct the CPG model of BLHR based on the limit cycle. Second, the fuzzy controller is applied to adjust the support angles of legs to change the heading of BLHR, thereby correcting the error between the actual and desired heading angle in real-time. Finally, the feasibility and effectiveness of the proposed CPG-Fuzzy control method is verified in Gazebo simulations and real-world experiments. This is the first attempt to combine CPG and fuzzy control in the context of hexapod robot. In comparison to existing control methods, the proposed CPG-Fuzzy controller can implement heading control of BLHR with better performance and value of further investigation.<\/jats:p>","DOI":"10.1007\/s10846-023-02047-2","type":"journal-article","created":{"date-parts":[[2024,1,16]],"date-time":"2024-01-16T10:02:32Z","timestamp":1705399352000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["CPG-Fuzzy Heading Control for a Hexapod Robot with Arc-Shaped Blade Legs"],"prefix":"10.1007","volume":"110","author":[{"given":"Yani","family":"Zhang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8006-3620","authenticated-orcid":false,"given":"Rongxin","family":"Cui","sequence":"additional","affiliation":[]},{"given":"Haoquan","family":"Li","sequence":"additional","affiliation":[]},{"given":"Xinxin","family":"Guo","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,1,16]]},"reference":[{"key":"2047_CR1","doi-asserted-by":"crossref","unstructured":"Rudin, N., Kolvenbach, H., Tsounis, V., Hutter, M.: Cat-like jumping and landing of legged robots in low-gravity using deep reinforcement learning. 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