{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,12,30]],"date-time":"2024-12-30T19:02:06Z","timestamp":1735585326627},"reference-count":34,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,9,8]],"date-time":"2021-09-08T00:00:00Z","timestamp":1631059200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/100012542","name":"Sichuan Province Science and Technology Support Program","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100012542","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2022,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>RHex\u2010style hexapod robot is a type of legged robot which can perform multiple moving gaits according to different applications, due to its simple structure and strong mobility. However, traversing high obstacles has always been a big challenge for legged robots. In this paper, gait optimization of a hexapod robot is proposed for climbing steps at different heights, which even enables the robot to climb the step 3.9 times of the leg length. First, a previous step\u2010climbing gait is optimized by adjusting body inclination when placing front legs on top of the step, which enables RHex with different sizes to perform the rising stage of the gait. Second, to improve the climbing heights, a novel quasi\u2010static climbing gait is proposed by using the reversed claw\u2010shape legs to reach the higher step. The nondeformable legs are used to raise the center of mass (COM) of the body by lifting the front and rear legs alternately so that the front legs can reach the top of the step, then the front and middle legs are lifted alternately to maneuver COM up onto the step. The simulations and dynamic analysis of climbing steps are utilized to verify the feasibility of the improved gait. Finally, the step\u2010climbing experiments at different heights are performed with the optimized gaits to compare with the existing gaits. The results of simulations and experiments show the superiority of the proposed gaits due to climbing higher steps.<\/jats:p>","DOI":"10.1002\/rob.22037","type":"journal-article","created":{"date-parts":[[2021,9,8]],"date-time":"2021-09-08T11:43:55Z","timestamp":1631101435000},"page":"55-68","update-policy":"http:\/\/dx.doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Gait optimization of step climbing for a hexapod robot"],"prefix":"10.1002","volume":"39","author":[{"ORCID":"http:\/\/orcid.org\/0000-0003-0311-9632","authenticated-orcid":false,"given":"Xingguo","family":"Song","sequence":"first","affiliation":[{"name":"Mechanical Engineering School, Unit of Mechanical and electronic engineering Southwest Jiaotong University Chengdu China"}]},{"given":"Xiaolong","family":"Zhang","sequence":"additional","affiliation":[{"name":"Mechanical Engineering School, Unit of Mechanical and electronic engineering Southwest Jiaotong University Chengdu China"}]},{"given":"Xiangyin","family":"Meng","sequence":"additional","affiliation":[{"name":"Mechanical Engineering School, Unit of Mechanical and electronic engineering Southwest Jiaotong University Chengdu China"}]},{"given":"Chunjun","family":"Chen","sequence":"additional","affiliation":[{"name":"Mechanical Engineering School, Unit of Mechanical and electronic engineering Southwest Jiaotong University Chengdu China"}]},{"given":"Dashan","family":"Huang","sequence":"additional","affiliation":[{"name":"Forces 32272, Unit 41 Chinese People's Liberation Army Deyang China"}]}],"member":"311","published-online":{"date-parts":[[2021,9,8]]},"reference":[{"key":"e_1_2_8_2_1","first-page":"1370","article-title":"Abstracted biological principles applied with reduced actuation improve mobility of legged vehicles","volume":"2","author":"Allen T. 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