# On a CPG-Based Hexapod Robot: AmphiHex-II With Variable Stiffness Legs

> Research article (IEEE/ASME Transactions on Mechatronics, 2018) · cited 114× · AI/ML

**Wikidata**: [openalex:W2789741901](https://www.wikidata.org/wiki/openalex:W2789741901)  
**Source**: https://4ort.xyz/entity/on-a-cpg-based-hexapod-robot-amphihex-ii-with-variable-stiffness-legs