{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T06:00:40Z","timestamp":1780466440636,"version":"3.54.1"},"reference-count":41,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2026,2,16]],"date-time":"2026-02-16T00:00:00Z","timestamp":1771200000000},"content-version":"unspecified","delay-in-days":46,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2026,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Legged robots operating in irregular environments are often subjected to compound disturbances such as tilts and vibrations, which can degrade attitude stability and motion reliability. This paper presents a real-time disturbance-adaptive control framework for a hexapod robot. The proposed system integrates quaternion-based attitude estimation using an extended Kalman filter (EKF), a double-threshold pose classifier, and a modular gait library and is implemented on an embedded controller with a 2 ms control-loop latency. Analytical verification and laboratory experiments demonstrate that the proposed control loop achieves uniform ultimate boundedness (UUB) under deterministic hybrid disturbances composed of controlled tilt and vibration, with a mean recovery time of 5.7 s. These results demonstrate that a lightweight rule-based controller can ensure reliable posture recovery within the experimentally validated laboratory scenarios, providing a foundation for future extensions to more complex environments. The main contributions of this work are (1) a disturbance-adaptive gait selection architecture for quasi-static stabilization, (2) a noise-robust EKF-based attitude estimation and double-threshold pose determination scheme, and (3) a concise Lyapunov-based stability analysis demonstrating UUB of the closed-loop system.<\/jats:p>","DOI":"10.1017\/s0263574726103233","type":"journal-article","created":{"date-parts":[[2026,2,16]],"date-time":"2026-02-16T07:30:05Z","timestamp":1771227005000},"page":"275-292","source":"Crossref","is-referenced-by-count":1,"title":["Attitude stability control system for a hexapod bionic robot under hybrid disturbances"],"prefix":"10.1017","volume":"44","author":[{"given":"Ping","family":"Zhang","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun","family":"Liu","sequence":"additional","affiliation":[{"name":"Shenyang Ligong University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai","family":"Cao","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yi","family":"Sun","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Youzhi","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andong","family":"Jiang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xuefei","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huan","family":"Shen","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1905-0564","authenticated-orcid":false,"given":"Aihong","family":"Ji","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics"},{"name":"Jiangsu Key Laboratory of Bionic Materials and Equipment"},{"name":"Nanjing University of Aeronautics and Astronautics"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2026,2,16]]},"reference":[{"key":"S0263574726103233_ref11","first-page":"1023","article-title":"Real-time dynamic gait optimization for hexapod robots using reinforcement learning","volume":"44","author":"Chen","year":"2020","journal-title":"Auton. 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