{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T16:54:14Z","timestamp":1782406454046,"version":"3.54.5"},"reference-count":75,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2017,11,23]],"date-time":"2017-11-23T00:00:00Z","timestamp":1511395200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51605039"],"award-info":[{"award-number":["51605039"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2016M592728"],"award-info":[{"award-number":["2016M592728"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Shaanxi Postdoctoral Scientific Research Project","award":["2016BSHYDZZ26"],"award-info":[{"award-number":["2016BSHYDZZ26"]}]},{"name":"Open Foundation of the State Key Laboratory of Fluid Power Transmission and Control","award":["GZKF-201610"],"award-info":[{"award-number":["GZKF-201610"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In order to find a common approach to plan the turning of a bio-inspired hexapod robot, a locomotion strategy for turning and deviation correction of a hexapod walking robot based on the biological behavior and sensory strategy of ants. A series of experiments using ants were carried out where the gait and the movement form of ants was studied. Taking the results of the ant experiments as inspiration by imitating the behavior of ants during turning, an extended turning algorithm based on arbitrary gait was proposed. Furthermore, after the observation of the radius adjustment of ants during turning, a radius correction algorithm based on the arbitrary gait of the hexapod robot was raised. The radius correction surface function was generated by fitting the correction data, which made it possible for the robot to move in an outdoor environment without the positioning system and environment model. The proposed algorithm was verified on the hexapod robot experimental platform. The turning and radius correction experiment of the robot with several gaits were carried out. The results indicated that the robot could follow the ideal radius and maintain stability, and the proposed ant-inspired turning strategy could easily make free turns with an arbitrary gait.<\/jats:p>","DOI":"10.3390\/s17122710","type":"journal-article","created":{"date-parts":[[2017,11,23]],"date-time":"2017-11-23T11:15:47Z","timestamp":1511435747000},"page":"2710","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9103-4211","authenticated-orcid":false,"given":"Yaguang","family":"Zhu","sequence":"first","affiliation":[{"name":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an 710064, China"},{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310028, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tong","family":"Guo","sequence":"additional","affiliation":[{"name":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an 710064, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qiong","family":"Liu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an 710064, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qianwei","family":"Zhu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an 710064, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bo","family":"Jin","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310028, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiangmo","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of information Engineering, Chang\u2019an University, Xi\u2019an 710064, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2017,11,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1041","DOI":"10.1177\/0278364904047616","article-title":"Stability and Traction Optimization of a Reconfigurable Wheel-Legged Robot","volume":"23","author":"Grand","year":"2004","journal-title":"Int. J. Robot. Res."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"447","DOI":"10.1163\/15685530360663436","article-title":"Double-track mobile robot for hazardous environment applications","volume":"17","author":"Lee","year":"2003","journal-title":"Adv. Robot."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1397","DOI":"10.1017\/S0263574716000175","article-title":"Fault tolerance properties and motion planning of a six-legged robot with multiple faults","volume":"35","author":"Du","year":"2016","journal-title":"Robotica"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"619","DOI":"10.1017\/S0263574714001738","article-title":"Fault tolerance criteria and walking capability analysis of a novel parallel-parallel hexapod break walking robot","volume":"34","author":"Pan","year":"2014","journal-title":"Robotica"},{"key":"ref_5","first-page":"9645730","article-title":"Galloping Trajectory Generation of a Legged Transport Robot Based on Energy Consumption Optimization","volume":"2016","author":"Zhu","year":"2016","journal-title":"J. Robot."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1401","DOI":"10.1007\/s12206-017-0241-y","article-title":"Tripod gait-based turning gait of a six-legged walking robot","volume":"31","author":"Chen","year":"2017","journal-title":"J. Mech. Sci. Technol."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Gao, H., Jin, M., Liu, Y., and Ding, L. (2015, January 5\u20137). Turning gait planning and simulation validation of a hydraulic hexapod robot. Proceedings of the 2015 International Conference on Fluid Power and Mechatronics, Harbin, China.","DOI":"10.1109\/FPM.2015.7337231"},{"key":"ref_8","first-page":"1278","article-title":"Turning Gait with Constant Radius of Six-legged Walking Robot","volume":"48","author":"Chen","year":"2014","journal-title":"J. Zhejiang Univ. (Eng. Sci.)"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"207","DOI":"10.1017\/S0890060400143033","article-title":"Optimal turning gait of a six-legged robot using a GA-fuzzy approach","volume":"14","author":"Pratihar","year":"2000","journal-title":"Artif. Intell. Eng. Des. Anal. Manuf."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"870","DOI":"10.1016\/j.robot.2007.09.006","article-title":"Localization of legged robots combining a fuzzy-Markov method and a population of extended Kalman filters","volume":"55","author":"Barrera","year":"2007","journal-title":"Robot. Auton. Syst."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1372","DOI":"10.1016\/j.mcm.2007.08.006","article-title":"Omnidirectional walking of legged robots with a failed leg","volume":"47","author":"Yang","year":"2008","journal-title":"Math. Comput. Model."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"041001","DOI":"10.1088\/1748-3182\/7\/4\/041001","article-title":"A survey of bio-inspired compliant legged robot designs","volume":"7","author":"Zhou","year":"2012","journal-title":"Bioinspir. Biomim."},{"key":"ref_13","unstructured":"Kurowski, S., and Von Stryk, O. (October, January 28). A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Radkhah, K., Kurowski, S., and Von Stryk, O. (2009, January 19\u201323). Design considerations for a biologically inspired compliant four-legged robot. Proceedings of the IEEE International Conference on Robotics and Biomimetics, Guilin, China.","DOI":"10.1109\/ROBIO.2009.5420606"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Ackerman, J., and Seipel, J. (2011, January 25\u201330). Energetics of bio-inspired legged robot locomotion with elastically-suspended loads. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA.","DOI":"10.1109\/IROS.2011.6095153"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"690","DOI":"10.1002\/rob.20404","article-title":"Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain","volume":"28","author":"Irawan","year":"2011","journal-title":"J. Field Robot."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"492","DOI":"10.7210\/jrsj.22.492","article-title":"A Turning Gait Generating Network for a Hexapod Robot","volume":"22","author":"Iwase","year":"2004","journal-title":"J. Robot. Soc. Jpn."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1603","DOI":"10.1242\/jeb.202.12.1603","article-title":"Many-legged maneuverability: Dynamics of turning in hexapods","volume":"202","author":"Jindrich","year":"1999","journal-title":"J. Exp. Biol."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"2803","DOI":"10.1242\/jeb.205.18.2803","article-title":"Dynamic stabilization of rapid hexapedal locomotion","volume":"205","author":"Jindrich","year":"2002","journal-title":"J. Exp. Biol."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1017\/S0263574705002237","article-title":"Fault-tolerant crab gaits and turning gaits for a hexapod robot","volume":"24","author":"Yang","year":"2006","journal-title":"Robotica"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"93","DOI":"10.1016\/j.protcy.2014.08.013","article-title":"Modeling and Analysis of Fault Tolerant Gait of a Multi-legged Robot Moving on an Inclined Plane","volume":"14","author":"Solow","year":"2014","journal-title":"Procedia Technol."},{"key":"ref_22","first-page":"430","article-title":"Sensor signal processing and omnidirectional locomotion control of a bio-inspired hexapod robot","volume":"49","author":"Chen","year":"2015","journal-title":"J. Zhejiang Univ. (Eng. Sci.)"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Matos, V., and Santos, C.P. (2010, January 18\u201322). Omnidirectional locomotion in a quadruped robot: A CPG-based approach. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan.","DOI":"10.1109\/IROS.2010.5652667"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"912","DOI":"10.1016\/j.robot.2012.01.004","article-title":"CPG modulation for navigation and omnidirectional quadruped locomotion","volume":"60","author":"Santos","year":"2012","journal-title":"Robot. Auton. Syst."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Stejskal, M., Mrva, J., and Faigl, J. (2016, January 16\u201321). Road following with blind crawling robot. Proceedings of the IEEE International Conference on Robotics and Automation, Stockholm, Sweden.","DOI":"10.1109\/ICRA.2016.7487544"},{"key":"ref_26","unstructured":"Milicka, P., C\u00ed\u017eek, P., and Faigl, J. (2016, January 15\u201319). On Chaotic Oscillator-based Central Pattern Generator for Motion Control of Hexapod Walking Robot. Proceedings of the 16th ITAT Conference Information Technologies\u2014Applications and Theory, Matliare, Slovakia."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"\u010c\u00ed\u017eek, P., Mili\u010dka, P., and Faigl, J. (2017, January 14\u201319). Neural based obstacle avoidance with CPG controlled hexapod walking robot. Proceedings of the International Joint Conference on Neural Networks, Anchorage, AK, USA.","DOI":"10.1109\/IJCNN.2017.7965914"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"15","DOI":"10.2307\/1605","article-title":"The Intrinsic Rate of Natural Increase of an Insect Population","volume":"17","author":"Birch","year":"1948","journal-title":"J. Anim. Ecol."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1016\/j.mechatronics.2012.01.001","article-title":"Jumping like an insect: Design and dynamic optimization of a jumping mini robot based on bio-mimetic inspiration","volume":"22","author":"Li","year":"2012","journal-title":"Mechatronics"},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Hoover, A.M., Burden, S., Fu, X.Y., and Sastry, S.S. (2010, January 26\u201329). Bio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot. Proceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, Tokyo, Japan.","DOI":"10.1109\/BIOROB.2010.5626034"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"051008","DOI":"10.1115\/1.4028751","article-title":"A Nonlinear Leg Damping Model for the Prediction of Running Forces and Stability","volume":"10","author":"Abraham","year":"2015","journal-title":"J. Comput. Nonlinear Dyn."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"580","DOI":"10.1016\/j.mechmachtheory.2008.08.010","article-title":"The use of compliant joints and elastic energy storage in bio-inspired legged robots","volume":"44","author":"Scarfogliero","year":"2009","journal-title":"Mech. Mach. Theory"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"187","DOI":"10.1016\/j.robot.2004.04.001","article-title":"Reactive free-gait generation to follow arbitrary trajectories with a hexapod robot","volume":"47","author":"Porta","year":"2004","journal-title":"Robot. Auton. Syst."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"771","DOI":"10.3901\/CJME.2013.04.771","article-title":"Typical Gait Analysis of a Six-legged Robot in the Context of Metamorphic Mechanism Theory","volume":"26","author":"Xu","year":"2013","journal-title":"Chin. J. Mech. Eng."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1196","DOI":"10.1299\/kikaic.73.1196","article-title":"Gait Generating Network for Hexapod Robot in Consideration of Fault Tolerance (Mechanical Systems)","volume":"73","author":"Inaba","year":"2007","journal-title":"Trans. Jpn. Soc. Mech. Eng. C"},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Zhu, Y., Jin, B., Wu, Y., Guo, T., and Zhao, X. (2016). Trajectory Correction and Locomotion Analysis of a Hexapod Walking Robot with Semi-Round Rigid Feet. Sensors, 16.","DOI":"10.3390\/s16091392"},{"key":"ref_37","unstructured":"Fujii, S., Inoue, K., Takubo, T., and Mae, Y. (2008, January 19\u201323). Ladder climbing control for limb mechanism robot \u201cASTERISK\u201d. Proceedings of the IEEE International Conference on Roboties and Automation, Pasadena, CA, USA."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"427","DOI":"10.1109\/56.808","article-title":"On the stability properties of hexapod tripod gait","volume":"4","author":"Lee","year":"1988","journal-title":"IEEE J. Robot. Autom."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"421","DOI":"10.1007\/s00359-010-0527-3","article-title":"Jumping kinematics in the wandering spider Cupiennius, salei","volume":"196","author":"Weihmann","year":"2010","journal-title":"J. Comp. Physiol. A"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"737","DOI":"10.1016\/S0957-4158(01)00017-4","article-title":"Development of a walking machine: Mechanical design and control problems","volume":"12","author":"Zielinska","year":"2002","journal-title":"Mechatronics"},{"key":"ref_41","first-page":"366","article-title":"Compliance control of a legged robot based on improved adaptive control: Method and experiments","volume":"5","author":"Zhu","year":"2016","journal-title":"Int. J. Robot. Autom."},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"932","DOI":"10.1109\/TRO.2006.878954","article-title":"Sensor Data Fusion for Body State Estimation in a Hexapod Robot with Dynamical Gaits","volume":"22","author":"Hosokawa","year":"2006","journal-title":"IEEE Trans. Robot."},{"key":"ref_43","first-page":"2881","article-title":"Research on Miniature Hexapod Robot and Its Control System","volume":"28","author":"Xu","year":"2002","journal-title":"Comput. Eng."},{"key":"ref_44","unstructured":"Sakakibara, Y., Kan, K., Hosoda, Y., Hattori, M., and Fujie, M. (1990, January 3\u20136). Foot trajectory for a quadruped walking machine. Proceedings of the IEEE International Workshop on Intelligent Robots & Systems \u201990, \u2018Towards A New Frontier of Applications\u2019, Ibaraki, Japan."},{"key":"ref_45","unstructured":"Yang, J.M., and Kim, J.H. (1998, January 20). A strategy of optimal fault tolerant gait for the hexapod robot in crab walking. Proceedings of the IEEE International Conference on Robotics & Automation, Leuven, Belgium."},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"383","DOI":"10.1007\/978-3-319-11854-3_32","article-title":"The Control System of the Eight-Legged Mobile Walking Robot","volume":"Volume 466","author":"Andreev","year":"2014","journal-title":"Proceedings of the Joint Conference on Knowledge-Based Software Engineering"},{"key":"ref_47","doi-asserted-by":"crossref","unstructured":"G\u00f6rner, M., and Hirzinger, G. (2010, January 3\u20137). Analysis and evaluation of the stability of a biologically inspired, Leg loss tolerant gait for six- and eight-legged walking robots. Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, AK, USA.","DOI":"10.1109\/ROBOT.2010.5509332"},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"2277","DOI":"10.1109\/TIE.2014.2360152","article-title":"Energy-Efficient Gait Planning and Control for Biped Robots Utilizing Vertical Body Motion and Allowable ZMP Region","volume":"62","author":"Shin","year":"2015","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"1082","DOI":"10.1126\/science.1107799","article-title":"Efficient Bipedal Robots Based on Passive-Dynamic Walkers","volume":"307","author":"Collins","year":"2005","journal-title":"Science"},{"key":"ref_50","first-page":"302","article-title":"Feedback Control of Dynamic Bipedal Robot Locomotion","volume":"4","author":"Westervelt","year":"2007","journal-title":"Br. J. Philos. Sci."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1016\/j.robot.2007.08.001","article-title":"Free gait generation with reinforcement learning for a six-legged robot","volume":"56","author":"Erden","year":"2008","journal-title":"Robot. Auton. Syst."},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"10822","DOI":"10.3182\/20080706-5-KR-1001.01833","article-title":"BigDog, the Rough-Terrain Quadruped Robot","volume":"41","author":"Raibert","year":"2008","journal-title":"IFAC Proc. Vol."},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"700","DOI":"10.1016\/j.robot.2009.11.004","article-title":"Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining","volume":"58","author":"Estremera","year":"2010","journal-title":"Robot. Auton. Syst."},{"key":"ref_54","doi-asserted-by":"crossref","unstructured":"Boaventura, T., Semini, C., Buchli, J., and Frigerio, M. (2012, January 14\u201318). Dynamic torque control of a hydraulic quadruped robot. Proceedings of the IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA.","DOI":"10.1109\/ICRA.2012.6224628"},{"key":"ref_55","doi-asserted-by":"crossref","unstructured":"Jeong, W.Y., Kim, H.K., Kim, S.B., and Jun, B.H. (2013, January 23\u201326). Path tracking controller design of hexapod robot for omni-directional gaits. Proceedings of the 9th Asian Control Conference, Istanbul, Turkey.","DOI":"10.1109\/ASCC.2013.6606206"},{"key":"ref_56","doi-asserted-by":"crossref","first-page":"932","DOI":"10.1177\/0278364913489205","article-title":"Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot","volume":"32","author":"Tuleu","year":"2013","journal-title":"Int. J. Robot. Res."},{"key":"ref_57","doi-asserted-by":"crossref","first-page":"40","DOI":"10.1109\/TRO.2014.2376141","article-title":"Model-Based Development of Leaping in a Hexapod Robot","volume":"31","author":"Chou","year":"2015","journal-title":"IEEE Trans. Robot."},{"key":"ref_58","doi-asserted-by":"crossref","unstructured":"Bjelonic, M., Kottege, N., and Beckerle, P. (2016, January 9\u201314). Proprioceptive control of an over-actuated hexapod robot in unstructured terrain. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea.","DOI":"10.1109\/IROS.2016.7759321"},{"key":"ref_59","doi-asserted-by":"crossref","unstructured":"Inagaki, S., Niwa, T., and Suzuki, T. (2010, January 18\u201322). Follow-the-Contact-Point gait control of centipede-like multi-legged robot to navigate and walk on uneven terrain. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan.","DOI":"10.1109\/IROS.2010.5651324"},{"key":"ref_60","doi-asserted-by":"crossref","first-page":"63","DOI":"10.1155\/2009\/743713","article-title":"Dynamic Locomotion of a Biomorphic Quadruped \u2018Tekken\u2019 Robot Using Various Gaits: Walk, Trot, Free-Gait and Bound","volume":"6","author":"Fukuoka","year":"2009","journal-title":"Appl. Bionics Biomech."},{"key":"ref_61","doi-asserted-by":"crossref","unstructured":"Wang, H., Ruan, J., and Li, Y. (2015, January 28\u201331). A novel walking control method for the pace gait of a quadruped robot. Proceedings of the 3rd International Conference in Mechanical, Information and Industrial Engineering, Kitakyushu, Japan.","DOI":"10.2495\/ICMIIE140391"},{"key":"ref_62","first-page":"1","article-title":"Galloping in an Underactuated Quadrupedal Robot","volume":"30","author":"Smith","year":"2015","journal-title":"Int. J. Robot Autom."},{"key":"ref_63","first-page":"2677","article-title":"Dynamics analysis and simulation on quadruped robot in passive bound gait","volume":"19","author":"Ma","year":"2008","journal-title":"China Mech. Eng."},{"key":"ref_64","doi-asserted-by":"crossref","unstructured":"Boaventura, T., Medrano-Cerda, G.A., Semini, C., and Buchli, J. (2013, January 3\u20137). Stability and performance of the compliance controller of the quadruped robot HyQ. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan.","DOI":"10.1109\/IROS.2013.6696541"},{"key":"ref_65","doi-asserted-by":"crossref","unstructured":"Kani, M.H.H., Derafshian, M., Bidgoly, H.J., and Ahmadabadi, M.N. (2011, January 7\u201311). Effect of flexible spine on stability of a passive quadruped robot: Experimental results. Proceedings of the IEEE International Conference on Robotics and Biomimetics, Karon Beach, Thailand.","DOI":"10.1109\/ROBIO.2011.6181728"},{"key":"ref_66","doi-asserted-by":"crossref","unstructured":"Meek, S., Kim, J., and Anderson, M. (2008, January 19\u201323). Stability of a trotting quadruped robot with passive, underactuated legs. Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA, USA.","DOI":"10.1109\/ROBOT.2008.4543232"},{"key":"ref_67","doi-asserted-by":"crossref","unstructured":"Seok, S., Wang, A., Meng, Y.C., Otten, D., Lang, J., and Kim, S. (2013, January 6\u201310). Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot. Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, Germany.","DOI":"10.1109\/ICRA.2013.6631038"},{"key":"ref_68","doi-asserted-by":"crossref","unstructured":"Xiao, W., and Wang, W. (2015, January 5\u201310). Hopf oscillator-based gait transition for a quadruped robot. Proceedings of the IEEE International Conference on Robotics and Biomimetics, Bali, Indonesia.","DOI":"10.1109\/ROBIO.2014.7090642"},{"key":"ref_69","unstructured":"Smith, J.A., and Poulakakis, I. (October, January 28). Rotary gallop in the untethered quadrupedal robot scout II. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan."},{"key":"ref_70","doi-asserted-by":"crossref","unstructured":"Zou, J., Pu, H., Shen, Y., and Sun, Y. (2015, January 6\u20139). Optimized non-reciprocating tripod gait for a hexapod robot with epicyclic-gear-based eccentric paddle mechanism. Proceedings of the IEEE International Conference on Robotics and Bio-Inspiriteds, Zhuhai, China.","DOI":"10.1109\/ROBIO.2015.7418828"},{"key":"ref_71","unstructured":"Silva, M.F., Machado, J.A.T., Lopes, A.M., and Tar, J.K. (September, January 30). Gait selection for quadruped and hexapod walking systems. Proceedings of the 2nd IEEE International Conference on Computational Cybernetics, Vienna, Austria."},{"key":"ref_72","unstructured":"Inagaki, K., and Kobayashi, H. (1994, January 8\u201313). Adaptive wave gait for hexapod synchronized walking. Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, USA."},{"key":"ref_73","first-page":"101","article-title":"Free gait generation method for omnidirectional locomotion on abrupt terrain with multi-legged biomimetic robot","volume":"18","author":"Fu","year":"2011","journal-title":"J. Harbin Inst. Technol. (New Ser.)"},{"key":"ref_74","first-page":"48","article-title":"A Study of the Omnidirectional Gait for a Hexapod Walking Robot","volume":"3","author":"Su","year":"2004","journal-title":"Mach. Electron."},{"key":"ref_75","doi-asserted-by":"crossref","unstructured":"Irawan, A., and Nonami, K. (2012, January 25\u201327). Force Threshold-Based Omni-directional Movement for Hexapod Robot Walking on Uneven Terrain. Proceedings of the Fourth International Conference on Computational Intelligence, Modelling and Simulation, Kuantan, Malaysia.","DOI":"10.1109\/CIMSim.2012.13"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/12\/2710\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:50:53Z","timestamp":1760208653000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/12\/2710"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,11,23]]},"references-count":75,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2017,12]]}},"alternative-id":["s17122710"],"URL":"https:\/\/doi.org\/10.3390\/s17122710","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,11,23]]}}}