{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,1]],"date-time":"2026-02-01T00:56:32Z","timestamp":1769907392778,"version":"3.49.0"},"reference-count":36,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2020,11,5]],"date-time":"2020-11-05T00:00:00Z","timestamp":1604534400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the Natural Science Foundation of China","award":["61773139"],"award-info":[{"award-number":["61773139"]}]},{"name":"the Foundation for Innovative Research Groups of the National Natural Science Foundation of China","award":["51521003"],"award-info":[{"award-number":["51521003"]}]},{"name":"Shenzhen Science and Technology Research and Development Foundation","award":["JCYJ20190813171009236"],"award-info":[{"award-number":["JCYJ20190813171009236"]}]},{"name":"Shenzhen Science and Technology Program","award":["KQTD2016112515134654"],"award-info":[{"award-number":["KQTD2016112515134654"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a simple attitude trajectory optimization method to enhance the walking balance of a large-size hexapod robot. To achieve balance motion control of a large-size hexapod robot on different outdoor terrains, we planned the balance attitude trajectories of the robot during walking and introduced how leg trajectories are generated based on the planned attitude trajectories. While planning the attitude trajectories, high order polynomial interpolation was employed with attitude fluctuation counteraction considered. Constraints that the planned attitude trajectories must satisfy during walking were well-considered. The trajectory of the swing leg was well designed with the terrain attitude considered to improve the environmental adaptability of the robot during the attitude adjustment process, and the trajectory of the support leg was automatically generated to satisfy the demand of the balance attitude trajectories planned. Comparative experiments of the real large-size hexapod robot walking on different terrains were carried out to validate the effectiveness and applicability of the attitude trajectory optimization method proposed, which demonstrated that, compared with the currently developed balance motion controllers, the attitude trajectory optimization method proposed can simplify the control system design and improve the walking balance of a hexapod robot.<\/jats:p>","DOI":"10.3390\/s20216295","type":"journal-article","created":{"date-parts":[[2020,11,5]],"date-time":"2020-11-05T09:04:34Z","timestamp":1604567074000},"page":"6295","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Attitude Trajectory Optimization to Ensure Balance Hexapod Locomotion"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2124-9564","authenticated-orcid":false,"given":"Chen","family":"Chen","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Wei","family":"Guo","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Pengfei","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Lining","family":"Sun","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Fusheng","family":"Zha","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"},{"name":"Shenzhen Academy of Aerospace Technology, Shenzhen 518057, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6465-1396","authenticated-orcid":false,"given":"Junyi","family":"Shi","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Mantian","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}]}],"member":"1968","published-online":{"date-parts":[[2020,11,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1016\/j.neunet.2019.05.019","article-title":"Indirect and direct training of spiking neural networks for end-to-end control of a lane-keeping vehicle","volume":"121","author":"Bing","year":"2020","journal-title":"Neural Netw."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"323","DOI":"10.1016\/j.neunet.2020.05.029","article-title":"Energy-efficient and damage-recovery slithering gait design for a snake-like robot based on reinforcement learning and inverse reinforcement learning","volume":"129","author":"Bing","year":"2020","journal-title":"Neural Netw."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"35","DOI":"10.3389\/fnbot.2018.00035","article-title":"A Survey of Robotics Control Based on Learning-Inspired Spiking Neural Networks","volume":"12","author":"Bing","year":"2018","journal-title":"Front. 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