{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T00:55:34Z","timestamp":1776387334506,"version":"3.51.2"},"reference-count":30,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2024,2,11]],"date-time":"2024-02-11T00:00:00Z","timestamp":1707609600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2024,2,11]],"date-time":"2024-02-11T00:00:00Z","timestamp":1707609600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"Zhejiang Provincial Natural Science Foundation of China","award":["No. LY20E050018"],"award-info":[{"award-number":["No. LY20E050018"]}]},{"name":"Stable support project of State Administration of Science, Technology and Industry for National Defence Grant, PRC under grant","award":["NO.HTKJ2023KL502019"],"award-info":[{"award-number":["NO.HTKJ2023KL502019"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["Nos. 52275037"],"award-info":[{"award-number":["Nos. 52275037"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51875528"],"award-info":[{"award-number":["51875528"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41506116"],"award-info":[{"award-number":["41506116"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the Key Research and Development Project of Ningxia Hui Autonomous Region","award":["No. 2023BDE03002"],"award-info":[{"award-number":["No. 2023BDE03002"]}]},{"name":"the Key Research and Development Project of Zhejiang Province","award":["No. 2023C03015"],"award-info":[{"award-number":["No. 2023C03015"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2024,5]]},"DOI":"10.1007\/s11370-023-00508-z","type":"journal-article","created":{"date-parts":[[2024,2,11]],"date-time":"2024-02-11T06:01:44Z","timestamp":1707631304000},"page":"533-553","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":26,"title":["Autonomous gait switching method and experiments of a hexapod walking robot for Mars environment with multiple terrains"],"prefix":"10.1007","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3926-9149","authenticated-orcid":false,"given":"Gang","family":"Chen","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Han","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuehua","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiatao","family":"Shen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiajun","family":"Tu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhicheng","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junrui","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hao","family":"Cheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lvyuan","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fei","family":"Dong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,2,11]]},"reference":[{"key":"508_CR1","doi-asserted-by":"publisher","first-page":"025001","DOI":"10.1088\/1748-3190\/ac45e6","volume":"17","author":"J Zhang","year":"2021","unstructured":"Zhang J, Liu Q, Zhou J, Song A (2021) Crab-inspired compliant leg design method for adaptive locomotion of a multi-legged robot Bioinsp. Biomim 17:025001","journal-title":"Biomim"},{"key":"508_CR2","doi-asserted-by":"crossref","unstructured":"Lele AS, Fang Y, Ting J, Raychowdhury A, (2020) Learning to walk: spike based reinforcement learning for hexapod robot central pattern generation. In: 2020 2nd IEEE International Conference on Artificial Intelligence Circuits and Systems (AICAS) (IEEE) (pp. 208\u201312)","DOI":"10.1109\/AICAS48895.2020.9073987"},{"key":"508_CR3","unstructured":"https:\/\/baijiahao.baidu.com\/s?id=1767399615131498862%26wfr=spider%26for=pc. Accessed Feb 7 2024"},{"key":"508_CR4","unstructured":"https:\/\/baijiahao.baidu.com\/s?id=1702519051247392139%26wfr=spider%26for=pc. Accessed Feb 7 2024"},{"key":"508_CR5","unstructured":"https:\/\/k.sina.com.cn\/article_6485452795_1829027fb00100ppan.html?from=science. Accessed Feb 7 2024"},{"issue":"1","key":"508_CR6","doi-asserted-by":"publisher","first-page":"015004","DOI":"10.1088\/1361-665X\/aca456","volume":"32","author":"G Chen","year":"2023","unstructured":"Chen G, Yang X, Yidong Xu, Yuwang Lu, Huosheng Hu (2023) Neural network-based motion modeling and control of water-actuated soft robotic fish [J]. Smart Mater Struct 32(1):015004","journal-title":"Smart Mater Struct"},{"issue":"2022","key":"508_CR7","doi-asserted-by":"publisher","first-page":"046001","DOI":"10.1088\/1748-3190\/ac6847","volume":"17","author":"Y Chen","year":"2022","unstructured":"Chen Y, Grezmak JE, Graf NM, Daltorio KA (2022) Sideways crab-walking is faster and more efficient than forward walking for a hexapod robot. Bioinspir Biomim 17(2022):046001","journal-title":"Bioinspir Biomim"},{"key":"508_CR8","doi-asserted-by":"publisher","first-page":"1603","DOI":"10.1016\/j.matpr.2020.07.165","volume":"37","author":"T Deepa","year":"2021","unstructured":"Deepa T, Angalaeswari S, Subbulekshmi D, Krithiga S, Sujeeth S, Kathiravan R (2021) Design and implementation of bio inspired hexapod for exploration applications. Mater Today Proc. 37:1603\u20131607","journal-title":"Mater Today Proc."},{"key":"508_CR9","doi-asserted-by":"publisher","first-page":"2959","DOI":"10.3390\/app10082959","volume":"10","author":"Y Liu","year":"2020","unstructured":"Liu Y, Fan X, Ding L, Wang J, Liu T, Gao H (2020) Fault-tolerant tripod gait planning and verification of a hexapod robot. Appl Sci 10:2959","journal-title":"Appl Sci"},{"issue":"3","key":"508_CR10","doi-asserted-by":"publisher","first-page":"1339","DOI":"10.3390\/app11031339","volume":"11","author":"M Luneckas","year":"2021","unstructured":"Luneckas M, Luneckas T, Kriau\u010di\u016bnas J, Udris D, Plonis D, Dama\u0161evi\u010dius R, Maskeli\u016bnas R (2021) Hexapod Robot gait switching for energy consumption and cost of transport management using heuristic algorithms. Appl Sci 11(3):1339","journal-title":"Appl Sci"},{"key":"508_CR11","doi-asserted-by":"publisher","first-page":"4163","DOI":"10.1109\/LRA.2019.2931263","volume":"4","author":"M Ishida","year":"2019","unstructured":"Ishida M, Drotman D, Shih B, Hermes M, Luhar M, Tolley MT (2019) Morphing structure for changing hydrodynamic characteristics of a soft underwater walking robot. IEEE Robot Autom Lett 4:4163\u20134169","journal-title":"IEEE Robot Autom Lett"},{"issue":"2021","key":"508_CR12","doi-asserted-by":"publisher","first-page":"367","DOI":"10.1016\/j.isatra.2020.08.033","volume":"108","author":"Z Chen","year":"2021","unstructured":"Chen Z, Wang S, Wang J, Xu K, Lei T, Zhang H, Wang X, Liu D, Si J (2021) Control strategy of stable walking for a hexapod wheel-legged robot. ISA Trans 108(2021):367\u2013380","journal-title":"ISA Trans"},{"key":"508_CR13","doi-asserted-by":"publisher","first-page":"103401","DOI":"10.1016\/j.robot.2019.103401","volume":"124","author":"H Yu","year":"2020","unstructured":"Yu H, Gao H, Deng Z (2020) Enhancing adaptability with local reactive behaviors for hexapod walking robot via sensory feedback integrated central pattern generator. Robot Autonom Syst 124:103401","journal-title":"Robot Autonom Syst"},{"key":"508_CR14","unstructured":"https:\/\/www.163.com\/dy\/article\/CCN55LPT0525D2IH.html. Accessed Feb 7 2024"},{"key":"508_CR15","unstructured":"https:\/\/www.antwiki.org\/wiki\/Pheidole_portalensis. Accessed Feb 7 2024"},{"key":"508_CR16","doi-asserted-by":"publisher","first-page":"104917","DOI":"10.1016\/j.mechmachtheory.2022.104917","volume":"174","author":"H Li","year":"2022","unstructured":"Li H, Qi C, Gao F, Chen X, Zhao Y, Chen Z (2022) Mechanism design and workspace analysis of a hexapod robot. Mech Mach Theory 174:104917","journal-title":"Mech Mach Theory"},{"key":"508_CR17","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TMECH.2023.3266778","volume":"28","author":"G Chen","year":"2023","unstructured":"Chen G, Xu Y, Yang C, Yang X, Hu H, Chai X, Wang D (2023) Design and control of a novel bionic mantis shrimp robot. IEEE\/ASME Trans Mech 28:1\u201310","journal-title":"IEEE\/ASME Trans Mech"},{"key":"508_CR18","doi-asserted-by":"publisher","first-page":"eabe1858","DOI":"10.1126\/scirobotics.abe1858","volume":"6","author":"J Huang","year":"2021","unstructured":"Huang J, Liu Y, Yang Y, Zhou Z, Mao J, Wu T, Liu J, Cai Q, Peng C, Xu Y, Zeng B (2021) Electrically programmable adhesive hydrogels for climbing robots. Sci Robot 6:eabe1858","journal-title":"Sci Robot"},{"issue":"51","key":"508_CR19","doi-asserted-by":"publisher","first-page":"eaay22627","DOI":"10.1126\/scirobotics.aay2627","volume":"6","author":"D Drotman","year":"2021","unstructured":"Drotman D, Jadhav S, Sharp D, Chan C, Tolley MT (2021) Electronics-free pneumatic circuits for controlling soft-legged robots. Sci Robot 6(51):eaay22627","journal-title":"Sci Robot"},{"key":"508_CR20","doi-asserted-by":"publisher","first-page":"113748","DOI":"10.1016\/j.oceaneng.2023.113748","volume":"271","author":"G Chen","year":"2023","unstructured":"Chen G, Zhao Z, Wang Z, Tu J, Hu H (2023) Swimming modeling and performance optimization of a fish-inspired underwater vehicle (FIUV). Ocean Eng 271:113748","journal-title":"Ocean Eng"},{"key":"508_CR21","doi-asserted-by":"crossref","unstructured":"Zenker S, Aksoy EE, Goldschmidt D, W\u00f6rg\u00f6tter F, Manoonpong P, (2013) Visual terrain classification for selecting energy efficient gaits of a hexapod robot, In: IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Wollongong, Australia, July 9\u201312","DOI":"10.1109\/AIM.2013.6584154"},{"issue":"7","key":"508_CR22","doi-asserted-by":"publisher","first-page":"3110","DOI":"10.1109\/TIE.2010.2072892","volume":"58","author":"CF Juang","year":"2010","unstructured":"Juang CF, Chang YC, Hsiao CM (2010) Evolving gaits of a hexapod robot by recurrent neural networks with symbiotic species-based particle swarm optimization. IEEE Trans Ind Electron 58(7):3110\u20133119","journal-title":"IEEE Trans Ind Electron"},{"key":"508_CR23","doi-asserted-by":"crossref","unstructured":"Hoepflinger MA, Remy CD, Hutter M, Spinello L, Siegwart R, (2010) Haptic terrain classification for legged robots, In: IEEE International Conference on Robotics and Automation","DOI":"10.1109\/ROBOT.2010.5509309"},{"issue":"5","key":"508_CR24","doi-asserted-by":"publisher","first-page":"932","DOI":"10.1109\/TRO.2006.878954","volume":"22","author":"PC Lin","year":"2006","unstructured":"Lin PC, Komsuoglu H, Koditschek DE (2006) Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits. IEEE Trans Robot 22(5):932\u2013943","journal-title":"IEEE Trans Robot"},{"key":"508_CR25","doi-asserted-by":"publisher","first-page":"103989","DOI":"10.1016\/j.robot.2021.103989","volume":"150","author":"Z Chen","year":"2022","unstructured":"Chen Z, Li J, Wang S, Wang J, Ma L (2022) Flexible gait transition for six wheel-legged robot with unstructured terrains. Robot Autonom Syst 150:103989","journal-title":"Robot Autonom Syst"},{"key":"508_CR26","doi-asserted-by":"publisher","first-page":"255","DOI":"10.1007\/s10846-012-9661-1","volume":"67","author":"W Chen","year":"2012","unstructured":"Chen W, Ren G, Zhang J, Wang J (2012) Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm. J Intell Robot Syst 67:255\u2013270","journal-title":"J Intell Robot Syst"},{"issue":"2","key":"508_CR27","doi-asserted-by":"publisher","first-page":"624","DOI":"10.1109\/TCST.2017.2692727","volume":"26","author":"G Zhong","year":"2017","unstructured":"Zhong G, Chen L, Jiao Z, Li J, Deng H (2017) Locomotion control and gait planning of a novel hexapod robot using biomimetic neurons. IEEE Trans Control Syst Technol 26(2):624\u2013636","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"2","key":"508_CR28","doi-asserted-by":"publisher","first-page":"2148","DOI":"10.1109\/LRA.2019.2899664","volume":"4","author":"R Buchanan","year":"2019","unstructured":"Buchanan R, Bandyopadhyay T, Bjelonic M, Wellhausen L, Hutter M, Kottege N (2019) Walking posture adaptation for legged robot navigation in confined spaces. IEEE Robot Autom Lett 4(2):2148\u20132155","journal-title":"IEEE Robot Autom Lett"},{"issue":"2","key":"508_CR29","doi-asserted-by":"publisher","first-page":"271","DOI":"10.1007\/s11465-020-0623-1","volume":"16","author":"Y Zhao","year":"2021","unstructured":"Zhao Y, Gao F, Sun Q, Yin Y (2021) Terrain classification and adaptive locomotion for a hexapod robot Qingzhui. Front Mech Eng 16(2):271\u2013284","journal-title":"Front Mech Eng"},{"key":"508_CR30","doi-asserted-by":"publisher","first-page":"114550","DOI":"10.1016\/j.oceaneng.2023.114550","volume":"279","author":"G Chen","year":"2023","unstructured":"Chen G, Peng W, Wang Z, Tu J (2023) Modeling of swimming posture dynamics for a beaver-like robot. Ocean Eng 279:114550","journal-title":"Ocean Eng"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-023-00508-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-023-00508-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-023-00508-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,5,25]],"date-time":"2024-05-25T17:07:29Z","timestamp":1716656849000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-023-00508-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,2,11]]},"references-count":30,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2024,5]]}},"alternative-id":["508"],"URL":"https:\/\/doi.org\/10.1007\/s11370-023-00508-z","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,2,11]]},"assertion":[{"value":"14 September 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 December 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 February 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"No conflict of interest exists in the submission of this manuscript. Availability of data and material: The data that support the findings of this study are available from the corresponding author upon reasonable request.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"All authors have approved the manuscript and agree with its publication on Intelligent Service Robotics.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to publish"}}]}}