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., (2025) 1-14DOI: https://doi.org/10.1140/epjs/s11734-025-01782-x