{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T05:56:39Z","timestamp":1773294999566,"version":"3.50.1"},"reference-count":13,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2014,12,16]],"date-time":"2014-12-16T00:00:00Z","timestamp":1418688000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2016,8]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A centipede-like robot, which has high degrees of freedom (DOFs) and similar body segments, requires new real-time control to achieve diverse gaits. Therefore, we have studied the movement characteristics of multi-legged creatures and determined the features for a gait periodic relay. An instruction-relay control scheme, the three-bus control system and the required software were then designed. In our experiments with the designed control system, different gaits for the robot could be achieved, and the phase difference between body segments could be changed by altering the delay time. As a whole, this control system could accomplish the required control task and reasonably simplify the gait control algorithms and procedures.<\/jats:p>","DOI":"10.1017\/s0263574714002628","type":"journal-article","created":{"date-parts":[[2014,12,16]],"date-time":"2014-12-16T05:51:45Z","timestamp":1418709105000},"page":"1841-1854","source":"Crossref","is-referenced-by-count":4,"title":["Design of the three-bus control system utilising periodic relay for a centipede-like robot"],"prefix":"10.1017","volume":"34","author":[{"given":"Tianqi","family":"Wei","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qingsheng","family":"Luo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Mo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yong","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhineng","family":"Cheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,12,16]]},"reference":[{"key":"S0263574714002628_ref7","unstructured":"A. Torige , S. Yagi , H. Makino , T. Yagami and N. Ishizawa , \u201cCentipede Type Walking Robot (CWR-2),\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, Grenoble, France (1997) pp. 402\u2013407."},{"key":"S0263574714002628_ref10","doi-asserted-by":"publisher","DOI":"10.1137\/060664756"},{"key":"S0263574714002628_ref2","doi-asserted-by":"crossref","unstructured":"A. Ishiguro , K. Ishimaru , K. Hayakawa and T. Kawakatsu , \u201cHow should Control and Body Dynamics be Coupled? A Robotic Case Study,\u201d Proceedings IEEE\/RSJ International Conference on Intell. Robots Syst., (2003) pp. 1727\u20131732.","DOI":"10.1109\/IROS.2003.1248893"},{"key":"S0263574714002628_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2002.1173257"},{"key":"S0263574714002628_ref13","first-page":"17","article-title":"Research on hexapod walking bio-robot locomotion control technology","volume":"22","author":"Mao","year":"2006","journal-title":"Comput. Meas. Control"},{"key":"S0263574714002628_ref9","doi-asserted-by":"publisher","DOI":"10.1126\/science.1138353"},{"key":"S0263574714002628_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.09.021"},{"key":"S0263574714002628_ref11","first-page":"72","article-title":"Experimental study on hexapod biomimetic robot's gait planning","volume":"35","author":"Huang","year":"2007","journal-title":"J. Huazhong Univ. Sci. Technol. (Nature Science)"},{"key":"S0263574714002628_ref8","doi-asserted-by":"crossref","unstructured":"L. Matthey , L. Righetti and A. J. Ijspeert , \u201cExperimental Study of Limit Cycle and Chaotic Controllers for the Locomotion of Centipede Robots,\u201d Intelligent Robots and Systems, IROS 2008. IEEE\/RSJ International Conference on. IEEE, (2008) pp. 1860\u20131865.","DOI":"10.1109\/IROS.2008.4650999"},{"key":"S0263574714002628_ref12","first-page":"1071","article-title":"Study on motion control system of a modular multi-legged robot","volume":"17","author":"Chen","year":"2006","journal-title":"China Mechanical Engineering"},{"key":"S0263574714002628_ref4","doi-asserted-by":"publisher","DOI":"10.1126\/science.3975635"},{"key":"S0263574714002628_ref6","doi-asserted-by":"crossref","unstructured":"S. Inagaki , T. Niwa and T. Suzuki , \u201cFollow-the-Contact-Point Gait Control of Centipede-Like Multi-Legged Robot to Navigate and Walk on Uneven Terrain,\u201d Intelligent Robots and Systems (IROS), 2010 IEEE\/RSJ International Conference on Digital Object Identifier: 10.1109\/IROS.2010.5651324, (2010) pp. 5341\u20135346.","DOI":"10.1109\/IROS.2010.5651324"},{"key":"S0263574714002628_ref5","doi-asserted-by":"crossref","unstructured":"S. Aoi , H. Sasaki and K. Tsuchiya , \u201cTurning Maneuvers of a Multi-Legged Modular Robot using its Inherent Dynamic Characteristics,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, (2006) (IEEE Cat. No. 06CH37780D): 1 4244 0258 1, pp. 180\u2013185.","DOI":"10.1109\/IROS.2006.282228"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714002628","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,18]],"date-time":"2019-04-18T21:41:40Z","timestamp":1555623700000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714002628\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,12,16]]},"references-count":13,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2016,8]]}},"alternative-id":["S0263574714002628"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714002628","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,12,16]]}}}