{"id":"https://openalex.org/W1553786746","doi":"https://doi.org/10.1023/a:1008920021246","title":"Evolution and Analysis of Model CPGs for Walking: II. General Principles and Individual Variability","display_name":"Evolution and Analysis of Model CPGs for Walking: II. General Principles and Individual Variability","publication_year":1999,"publication_date":"1999-09-01","ids":{"openalex":"https://openalex.org/W1553786746","doi":"https://doi.org/10.1023/a:1008920021246","mag":"1553786746","pmid":"https://pubmed.ncbi.nlm.nih.gov/10515251"},"language":"en","primary_location":{"id":"doi:10.1023/a:1008920021246","doi":"https://doi.org/10.1023/a:1008920021246","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1008920021246","pdf_url":null,"source":{"id":"https://openalex.org/S27455496","display_name":"Journal of Computational Neuroscience","issn_l":"0929-5313","issn":["0929-5313","1573-6873"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-70","russia-white-list-3","vabb-shw"],"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computational Neuroscience","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014235111","display_name":"Randall D. Beer","orcid":"https://orcid.org/0000-0001-7279-3028","observed_orcids":["https://orcid.org/0000-0001-7279-3028"]},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Randall D. Beer","raw_affiliation_strings":["Department of Computer Engineering and Science, Case Western Reserve University, Cleveland, OH 44106, USA. beer@alpha.ces.cwru.edu","Department of Computer Engineering and Science and Department of Biology, Case Western Reserve University, Cleveland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering and Science, Case Western Reserve University, Cleveland, OH 44106, USA. beer@alpha.ces.cwru.edu","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Department of Computer Engineering and Science and Department of Biology, Case Western Reserve University, Cleveland","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046405160","display_name":"Hillel J. Chiel","orcid":"https://orcid.org/0000-0002-1750-8500","observed_orcids":["https://orcid.org/0000-0002-1750-8500"]},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hillel J. Chiel","raw_affiliation_strings":["Department of Biology and Department of Neuroscience, Case Western Reserve University, Cleveland, OH, 44106","Department of Biology and Department of Neuroscience, Case Western Reserve University, Cleveland,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biology and Department of Neuroscience, Case Western Reserve University, Cleveland, OH, 44106","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Department of Biology and Department of Neuroscience, Case Western Reserve University, Cleveland,","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037448661","display_name":"John Christopher Gallagher","orcid":"https://orcid.org/0000-0002-5129-9183","observed_orcids":["https://orcid.org/0000-0002-5129-9183"]},"institutions":[{"id":"https://openalex.org/I1327163397","display_name":"State University of New York","ror":"https://ror.org/01q1z8k08","country_code":"US","type":"education","lineage":["https://openalex.org/I1327163397"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John C. Gallagher","raw_affiliation_strings":["Department of Computer Science, SUNY Institute of Technology of Utica/Rome, Utica, NY, 13504-3050","Department of Computer Science, SUNY Institute of Technology of Utica/Rome, Utica,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, SUNY Institute of Technology of Utica/Rome, Utica, NY, 13504-3050","institution_ids":[]},{"raw_affiliation_string":"Department of Computer Science, SUNY Institute of Technology of Utica/Rome, Utica,","institution_ids":["https://openalex.org/I1327163397"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":3990,"currency":"USD","value_usd":3990},"apc_paid":null,"fwci":8.2006,"has_fulltext":false,"cited_by_count":126,"citation_normalized_percentile":{"value":0.98375759,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"119","last_page":"147"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9526000022888184,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9526000022888184,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.014299999922513962,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.002899999963119626,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"central pattern generator","score":0.9900000095367432},{"id":"https://openalex.org/keywords/walking","display_name":"walking","score":0.8330000042915344},{"id":"https://openalex.org/keywords/multistability","display_name":"multistability","score":0.9319999814033508},{"id":"https://openalex.org/keywords/degeneracy","display_name":"degeneracy","score":0.6230000257492065},{"id":"https://openalex.org/keywords/functional-decomposition","display_name":"functional decomposition","score":0.6060000061988831},{"id":"https://openalex.org/keywords/locomotion","display_name":"locomotion","score":0.5619999766349792},{"id":"https://openalex.org/keywords/neural-connectivity","display_name":"neuronal connectivity","score":0.3610000014305115},{"id":"https://openalex.org/keywords/biomechanics","display_name":"biomechanics","score":0.6579999923706055}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.7031160593032837},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.6109998822212219},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5961298942565918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.508363664150238},{"id":"https://openalex.org/C118403218","wikidata":"https://www.wikidata.org/wiki/Q43283","display_name":"Biological neural network","level":2,"score":0.4714794158935547},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.42729705572128296},{"id":"https://openalex.org/C24858836","wikidata":"https://www.wikidata.org/wiki/Q844718","display_name":"Theory of computation","level":2,"score":0.42380523681640625},{"id":"https://openalex.org/C2986949344","wikidata":"https://www.wikidata.org/wiki/Q9404","display_name":"Neural system","level":2,"score":0.4206937253475189},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.38570815324783325},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.3367217779159546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3284896910190582},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3239809572696686},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.31500664353370667},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18527382612228394},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18392863869667053},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.17329874634742737},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1431659460067749},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001522","descriptor_name":"Behavior, Animal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D007395","descriptor_name":"Interneurons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008959","descriptor_name":"Models, Neurological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009046","descriptor_name":"Motor Neurons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D013569","descriptor_name":"Synapses","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D013997","descriptor_name":"Time Factors","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1023/a:1008920021246","doi":"https://doi.org/10.1023/a:1008920021246","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1008920021246","pdf_url":null,"source":{"id":"https://openalex.org/S27455496","display_name":"Journal of Computational Neuroscience","issn_l":"0929-5313","issn":["0929-5313","1573-6873"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-70","russia-white-list-3","vabb-shw"],"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computational Neuroscience","raw_type":"journal-article"},{"id":"pmid:10515251","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/10515251","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of computational neuroscience","raw_type":"Journal Article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.43.479","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.43.479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://vorlon.cwru.edu/~beer/Papers/JCN2.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W204422987","https://openalex.org/W1520935121","https://openalex.org/W1536647690","https://openalex.org/W1545091652","https://openalex.org/W1578310495","https://openalex.org/W1589086237","https://openalex.org/W1596568005","https://openalex.org/W1824021067","https://openalex.org/W1865428056","https://openalex.org/W1895597885","https://openalex.org/W1952921153","https://openalex.org/W1979259976","https://openalex.org/W1986401459","https://openalex.org/W1999045297","https://openalex.org/W2003280359","https://openalex.org/W2005761641","https://openalex.org/W2010606857","https://openalex.org/W2012391952","https://openalex.org/W2012546758","https://openalex.org/W2025842514","https://openalex.org/W2036078241","https://openalex.org/W2041413732","https://openalex.org/W2057361916","https://openalex.org/W2059608691","https://openalex.org/W2065525336","https://openalex.org/W2068551667","https://openalex.org/W2071739800","https://openalex.org/W2083127301","https://openalex.org/W2083950419","https://openalex.org/W2097571405","https://openalex.org/W2098186057","https://openalex.org/W2125444472","https://openalex.org/W2136504354","https://openalex.org/W2152150600","https://openalex.org/W2168071184","https://openalex.org/W2276157411","https://openalex.org/W2309455598","https://openalex.org/W2322724878","https://openalex.org/W2404034009","https://openalex.org/W2411364975","https://openalex.org/W2416234927","https://openalex.org/W2419003270","https://openalex.org/W2471321996","https://openalex.org/W2604775990","https://openalex.org/W3010782316","https://openalex.org/W3023540311","https://openalex.org/W4241805605","https://openalex.org/W4246652431"],"related_works":["https://openalex.org/W7100098931","https://openalex.org/W1578310495","https://openalex.org/W2091016828","https://openalex.org/W2106091855","https://openalex.org/W4200301720","https://openalex.org/W7096055942","https://openalex.org/W2075674413","https://openalex.org/W4246579259","https://openalex.org/W2068766195","https://openalex.org/W4246012448"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2026-10-31T12:09:11.096373","created_date":"2016-06-24T00:00:00"}