Synchrony transition of delayed 3-HR motif to design the CPG-based gait for hexapod robotCaihong Song, Qingzhao Kong, Zigen Song, Xiuting Sun and Jian XuEur. Phys. J. Spec. Top., 234 28 (2026) 9103-9116DOI: https://doi.org/10.1140/epjs/s11734-025-01782-x