{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:47Z","timestamp":1777715747593,"version":"3.51.4"},"reference-count":17,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2000,4,1]],"date-time":"2000-04-01T00:00:00Z","timestamp":954547200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,4]]},"abstract":"<jats:p>We present a search-based method for the generation of a terrain-adaptive optimal gait of a six-legged walking machine. In this, several heuristic rules have been proposed to reduce the search effort. We identify the useful support states of the machine and form a table to indicate for each of these states the list of other states to which a transition can be made. This helps in converging to and maintaining a periodic gait through a limited search while retaining adequate options to deviate from such a gait as and when needed. The criterion for optimization is coded into a function that evaluates the promise of a node in the search graph. We have shown how this function may be designed to generate the common periodic gaits like the wave gait, the equal phase gait, and the follow-the-leader gait. The purpose is to demonstrate that the proposed method is sufficiently general and can cater to a wide range of optimizing requirements.<\/jats:p>","DOI":"10.1177\/02783640022066932","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"394-408","source":"Crossref","is-referenced-by-count":8,"title":["Gait Optimization through Search"],"prefix":"10.1177","volume":"19","author":[{"given":"Prabir K.","family":"Pal","sequence":"first","affiliation":[]},{"given":"Dayal C.","family":"Kar","sequence":"additional","affiliation":[{"name":"Division of Remote Handling and Robotics, Bhabha Atomic Research Centre,                         Mumbai 400085, India"}]}],"member":"179","published-online":{"date-parts":[[2000,4,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/100.692337"},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Cherian, S., and Troxell, W. O. 1993. A neural network based behaviour hierarchy for locomotion control. In From Animals to Animats 2, ed. J. A. Meyer, H. L. Roitblat, and S. W. Wilson. Cambridge, MA: MIT Press , pp. 61\u201370.","DOI":"10.7551\/mitpress\/3116.003.0010"},{"key":"atypb3","doi-asserted-by":"crossref","unstructured":"Cruse, H., Muller-Wilm, U., and Dean, J. 1993. Artificial neural nets for controlling a 6-legged walking system. From Animals to Animats 2, ed. J. A. Meyer, H. L. Roitblat, and S. W. Wilson. Cambridge, MA: MIT Press , pp. 52\u201360.","DOI":"10.7551\/mitpress\/3116.003.0009"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300210"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600304"},{"key":"atypb6","unstructured":"Kugushev, E. I., and Jaroshevskij, V. S. 1975. Problems of selecting a gait for an integrated locomotion robot . Proc. Fourth Int. Conf. Artificial Intelligence, Tbilisi, Georgian SSR, USSR, pp. 789\u2013793 ."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060105"},{"key":"atypb8","doi-asserted-by":"crossref","unstructured":"McGhee, R. B., and Iswandhi, G. I. 1979. Adaptive locomotion of a multilegged robot over rough terrain . IEEE Trans. Syst. Man, Cybern. SMC-9(4): 176\u2013182 .","DOI":"10.1109\/TSMC.1979.4310180"},{"key":"atypb9","unstructured":"Nilsson, N. J. 1980. Principles of Artificial Intelligence. San Mateo, CA: Morgan Kaufmann ."},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300211"},{"key":"atypb11","doi-asserted-by":"crossref","unstructured":"Pack, D. J., and Kang, H. 1995. An omnidirectional gait control using a graph search method for a quadruped walking robot . Proc. IEEE Int. Conf. in Robotics and Automation, Nugoya, Japan, pp. 988\u2013993 .","DOI":"10.1109\/ROBOT.1995.525411"},{"key":"atypb12","doi-asserted-by":"crossref","unstructured":"Pal, P. K., and Jayarajan, K. 1990. A free gait for generalized motion . IEEE Trans. on Robotics and Automation RA-6(5): 597\u2013600 .","DOI":"10.1109\/70.62049"},{"key":"atypb13","doi-asserted-by":"crossref","unstructured":"Pal, P. K., and Jayarajan, K. 1991. Generation of free gait\u2014 a graph search approach . IEEE Trans. on Robotics and Automation RA-7(3): 299\u2013305 .","DOI":"10.1109\/70.88139"},{"key":"atypb14","doi-asserted-by":"crossref","unstructured":"Pal, P. K., and Jayarajan, K. 1994. Gait generation for a six-legged walking machine through graph search . Proc. IEEE Int. Conf. on Robotics and Automation, San Diego, California, pp. 1332\u20131337 .","DOI":"10.1109\/ROBOT.1994.351312"},{"key":"atypb15","unstructured":"Pearl, J. 1984. Heuristics: Intelligent Search Strategies for Computer Problem Solving. Reading, MA: Addison-Wesley ."},{"key":"atypb16","unstructured":"Song, S. M., and Waldron, K. J. 1989. Machines That Walk: The Adaptive Suspension Vehicle. Cambridge, MA: MIT Press ."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1016\/S0065-2458(08)60487-8"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783640022066932","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783640022066932","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:09Z","timestamp":1777457769000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783640022066932"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,4]]},"references-count":17,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2000,4]]}},"alternative-id":["10.1177\/02783640022066932"],"URL":"https:\/\/doi.org\/10.1177\/02783640022066932","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2000,4]]}}}