{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,9]],"date-time":"2025-09-09T21:28:53Z","timestamp":1757453333951,"version":"3.41.2"},"reference-count":27,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2017,3,20]],"date-time":"2017-03-20T00:00:00Z","timestamp":1489968000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2017,3,20]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title><jats:p>This paper aims to construct a central pattern generator (CPG) network that comprises coupled nonlinear oscillators to implement diversified locomotion gaits of robot AmphiHex-I. With the gaits, AmphiHex-I will have a strong locomotion ability in an amphibious environment, which is motivated by a novel public health application to detect the amphibious snail,<jats:italic>Oncomelania hupensis<\/jats:italic>, the snail intermediate host of<jats:italic>Schistosoma japonicum<\/jats:italic>, as an amphibious robot-based tool for schistosomiasis surveillance and response in the future.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title><jats:p>First, the basis neural network was built by adopting six Hopf nonlinear oscillators which corresponded to six legs. Then, the correlation between the self-excited harmonic output signals generated from CPGs and various gaits was established. In view of requirements on its field application, the authors added a telecontrol system and an on-board battery to support the real-life remote control and a high-definition camera and a global positioning system module to acquire images and position information. Finally, the authors conducted the testing experiments on several tasks, e.g. detecting the distribution of<jats:italic>Oncomelania hupensis<\/jats:italic>snails.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-subheading\">Findings<\/jats:title><jats:p>The results demonstrate that the CPG is effective in controlling the robot\u2019s diversified locomotion gaits. In addition, the robot is capable of fulfilling several testing tasks in the experiments.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title><jats:p>The research provides a method based on CPG to control a hexapod robot with multiple motion patterns, which can effectively overcome the difficulty of motion control simply by changing certain mathematical parameters of a nonlinear equation, such as frequency, phase difference and offset angle, so as to realize the gait transitions. Also, using such a robot to probe the distribution of snails offers another way to tackle this laborious job, especially in some odious terrains, which will hence broaden the application of AmphiHex-I to vector surveillance in the fields of public health.<\/jats:p><\/jats:sec>","DOI":"10.1108\/ir-05-2016-0151","type":"journal-article","created":{"date-parts":[[2017,3,9]],"date-time":"2017-03-09T03:46:37Z","timestamp":1489031197000},"page":"242-250","source":"Crossref","is-referenced-by-count":4,"title":["Application of bio-inspired control of AmphiHex-I in detection of<i>Oncomelania hupensis<\/i>, the amphibious snail intermediate host of<i>Schistosoma japonicum<\/i>"],"prefix":"10.1108","volume":"44","author":[{"given":"Youcheng","family":"Zhou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bin","family":"Zhong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Fang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiming","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaonong","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shiwu","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"first-page":"1459","article-title":"Design of an autonomous amphibious robot for surf zone operation: part I mechanical design for multi-mode mobility","year":"2005","key":"key2020120822351086800_ref001"},{"issue":"5","key":"key2020120822351086800_ref002","doi-asserted-by":"crossref","first-page":"392","DOI":"10.1108\/IR-03-2015-0044","article-title":"Applying central pattern generators to control the robofish with oscillating pectoral fins","volume":"42","year":"2015","journal-title":"Industrial Robot: An International Journal"},{"issue":"1","key":"key2020120822351086800_ref003","article-title":"Assessment of morbidity due to Schistosoma japonicum infection in China","volume":"3","year":"2014","journal-title":"Infectious Diseases of Poverty"},{"issue":"2","key":"key2020120822351086800_ref004","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1108\/IR-10-2014-0403","article-title":"Hexapod moving in complex terrains via a new adaptive CPG gait design","volume":"42","year":"2015","journal-title":"Industrial Robot: An International Journal"},{"issue":"1","key":"key2020120822351086800_ref005","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1186\/2049-9957-1-8","article-title":"Schistosomiasis control and the health system in P.R. China","volume":"1","year":"2012","journal-title":"Infectious Diseases of Poverty"},{"key":"key2020120822351086800_ref006","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1109\/MC.2007.6","article-title":"AQUA: an amphibious autonomous robot","volume":"40","year":"2007","journal-title":"Computer"},{"issue":"2","key":"key2020120822351086800_ref007","doi-asserted-by":"crossref","first-page":"213","DOI":"10.1177\/0278364907084980","article-title":"Learning CPG-based biped locomotion with a policy gradient method: application to a humanoid robot","volume":"27","year":"2008","journal-title":"The International Journal of Robotics Research"},{"issue":"2","key":"key2020120822351086800_ref008","first-page":"176","article-title":"Central pattern generators","volume":"10","year":"2000","journal-title":"Current Biology"},{"issue":"4","key":"key2020120822351086800_ref009","doi-asserted-by":"crossref","first-page":"642","DOI":"10.1016\/j.neunet.2008.03.014","article-title":"Central pattern generators for locomotion control in animals and robots: a review","volume":"21","year":"2008","journal-title":"Neural Networks"},{"issue":"5817","key":"key2020120822351086800_ref010","doi-asserted-by":"crossref","first-page":"1416","DOI":"10.1126\/science.1138353","article-title":"From swimming to walking with a salamander robot driven by a spinal cord model","volume":"315","year":"2007","journal-title":"Science"},{"issue":"3","key":"key2020120822351086800_ref011","doi-asserted-by":"crossref","first-page":"314","DOI":"10.1109\/TMECH.2005.848299","article-title":"Automatic locomotion design and experiments for a modular robotic system","volume":"10","year":"2005","journal-title":"IEEE\/ASME Transctions on Mechatronics"},{"year":"2014","key":"key2020120822351086800_ref012","article-title":"Gait planning and Gait transition of AmphiHex-I"},{"first-page":"3667","article-title":"The amphihex: a novel amphibious robot with transformable leg-flipper composite propulsion mechanism","year":"2012","key":"key2020120822351086800_ref013"},{"key":"key2020120822351086800_ref014","doi-asserted-by":"crossref","first-page":"867","DOI":"10.1109\/TSMCB.2010.2097589","article-title":"CPG-inspired workspace trajectory generation and adaptive locomotion control for quadruped robots","volume":"41","year":"2011","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics"},{"year":"2004","key":"key2020120822351086800_ref015","article-title":"Towards legged amphibious mobile robotics"},{"key":"key2020120822351086800_ref016","doi-asserted-by":"crossref","first-page":"379","DOI":"10.1242\/jeb.204.2.379","article-title":"Pectoral fin locomotion in batoid fishes: undulation versus oscillation","volume":"204","year":"2001","journal-title":"Journal of Experimental Biology"},{"first-page":"2589","article-title":"Design, modeling and preliminary control of a compliant hexapod robot","year":"2000","key":"key2020120822351086800_ref017"},{"issue":"7","key":"key2020120822351086800_ref018","doi-asserted-by":"crossref","first-page":"616","DOI":"10.1177\/02783640122067570","article-title":"RHex: a simple and highly mobile hexapod robot","volume":"20","year":"2001","journal-title":"The International Journal of Robotics Research"},{"issue":"11\/12","key":"key2020120822351086800_ref019","first-page":"1267","article-title":"Biomimetic centering for undulatory robots","volume":"26","year":"2007","journal-title":"International Journal of Robotics Research"},{"issue":"2","key":"key2020120822351086800_ref020","doi-asserted-by":"crossref","first-page":"136","DOI":"10.1108\/01439911211201591","article-title":"Modeling of mesencephalic locomotor region for Nao humanoid robot","volume":"39","year":"2012","journal-title":"Industrial Robot: An International Journal"},{"issue":"1\/2","key":"key2020120822351086800_ref021","first-page":"192","article-title":"Cybernetic knee prosthesis: application of an adaptive central pattern generator","volume":"41","year":"2012","journal-title":"Industrial Robot: An International Journal"},{"issue":"5","key":"key2020120822351086800_ref022","doi-asserted-by":"crossref","first-page":"702","DOI":"10.1002\/rob.21470","article-title":"Amphibious pattern design of a robotic fish with wheel-propeller-fin mechanisms","volume":"30","year":"2013","journal-title":"Journal of Field Robotics"},{"issue":"4","key":"key2020120822351086800_ref023","doi-asserted-by":"crossref","first-page":"434","DOI":"10.1016\/S1672-6529(13)60247-4","article-title":"Initial development of a novel amphibious robot with transformable fin-leg composite propulsion mechanisms","volume":"10","year":"2013","journal-title":"Journal of Bionic Engineering"},{"issue":"3","key":"key2020120822351086800_ref024","first-page":"1720","article-title":"AmphiHex-I: locomotory performance in amphibious environments with specially designed transformable flipper-leg","volume":"21","year":"2015","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"first-page":"3891","article-title":"Development of multi-mode biomimetic robotic fish based on central pattern generator","year":"2006","key":"key2020120822351086800_ref025"},{"issue":"1","key":"key2020120822351086800_ref026","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1186\/2049-9957-2-15","article-title":"Research gaps for three main tropical diseases in the people\u2019s Republic of China","volume":"2","year":"2013","journal-title":"Infectious Diseases of Poverty"},{"issue":"1","key":"key2020120822351086800_ref027","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1109\/TMECH.2011.2175004","article-title":"Design and locomotion control of a biomimetic underwater vehicle with fin propulsion","volume":"17","year":"2012","journal-title":"IEEE\/ASME Transactions on Mechatronics"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-05-2016-0151\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-05-2016-0151\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:03Z","timestamp":1753393143000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/44\/2\/242-250\/176487"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,3,20]]},"references-count":27,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2017,3,20]]}},"alternative-id":["10.1108\/IR-05-2016-0151"],"URL":"https:\/\/doi.org\/10.1108\/ir-05-2016-0151","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2017,3,20]]}}}