{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T04:21:57Z","timestamp":1777522917860,"version":"3.51.4"},"reference-count":27,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2020,2,19]],"date-time":"2020-02-19T00:00:00Z","timestamp":1582070400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001691","name":"JSPS, Grants-in-Aid for Scientific Research","doi-asserted-by":"crossref","award":["JP17H04698"],"award-info":[{"award-number":["JP17H04698"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"crossref"}]},{"name":"JST ERATO","award":["JPMJER1401"],"award-info":[{"award-number":["JPMJER1401"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Adaptive Behavior"],"published-print":{"date-parts":[[2021,8]]},"abstract":"<jats:p>In diverse situations, humans produce natural and adaptable bipedal locomotion by cooperatively manipulating the interactions among the different parts of their bodies and the environment. Therefore, to realize a robot with adaptable behavior, it should be enabled to adjust its morphology accordingly in response to environmental changes. From this perspective, this study introduces the development of a bipedal robot with adaptive morphology. By implementing an actuator network system (ANS), the robot is able to manipulate the physical characteristics of its legs and the way they interact with each other. Two experiments have been conducted: main and supplementary experiments. The main experiment examined how effective is adjusting the robot\u2019s morphology on changing the robot\u2019s behavior. The experiment was conducted on different ground materials and under different connection patterns between the robot\u2019s legs. During the experiment, the robot\u2019s behavior was evaluated in reference to four aspects: walking style, stability, speed, and moving direction. The supplementary experiment took the results of the main experiment and used it to improve the robot\u2019s behavior during locomotion. The robot was enabled to automatically switch between the different connection patterns of the ANS, which in turn changed the interaction between the robot\u2019s legs and generated a more suitable dynamics for the surrounding environment.<\/jats:p>","DOI":"10.1177\/1059712320905177","type":"journal-article","created":{"date-parts":[[2020,2,19]],"date-time":"2020-02-19T03:56:21Z","timestamp":1582084581000},"page":"369-382","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["PedestriANS: a bipedal robot with adaptive morphology"],"prefix":"10.1177","volume":"29","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8865-955X","authenticated-orcid":false,"given":"Huthaifa","family":"Ahmad","sequence":"first","affiliation":[{"name":"Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2102-9358","authenticated-orcid":false,"given":"Yoshihiro","family":"Nakata","sequence":"additional","affiliation":[{"name":"Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yutaka","family":"Nakamura","sequence":"additional","affiliation":[{"name":"Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hiroshi","family":"Ishiguro","sequence":"additional","affiliation":[{"name":"Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2020,2,19]]},"reference":[{"key":"bibr1-1059712320905177","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2018.8664868"},{"key":"bibr2-1059712320905177","doi-asserted-by":"publisher","DOI":"10.1177\/1059712318798733"},{"key":"bibr3-1059712320905177","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2017.00039"},{"key":"bibr4-1059712320905177","volume-title":"Dexterity and its development","author":"Bernstein N. 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