{"id":"https://openalex.org/W2070701568","doi":"https://doi.org/10.1007/s10514-009-9168-1","title":"Adaptive creeping locomotion of a CPG-controlled snake-like robot to\u00a0environment change","display_name":"Adaptive creeping locomotion of a CPG-controlled snake-like robot to\u00a0environment change","publication_year":2009,"publication_date":"2009-12-29","ids":{"openalex":"https://openalex.org/W2070701568","doi":"https://doi.org/10.1007/s10514-009-9168-1","mag":"2070701568"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-009-9168-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-009-9168-1","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"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/A5052558370","display_name":"Xiaodong Wu","orcid":"https://orcid.org/0000-0002-0096-3830"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Xiaodong Wu","raw_affiliation_strings":["Department of Robotics, College of Science and Engineering, Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu-Shi, Shiga, 525-8577, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, College of Science and Engineering, Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu-Shi, Shiga, 525-8577, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I108904480","display_name":"Shenyang Institute of Engineering","ror":"https://ror.org/02pfsj857","country_code":"CN","type":"education","lineage":["https://openalex.org/I108904480"]},{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, College of Science and Engineering, Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu-Shi, Shiga, 525-8577, Japan","Shenyang Institute of Automation, Shenyang, 110015, China"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, College of Science and Engineering, Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu-Shi, Shiga, 525-8577, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Shenyang Institute of Automation, Shenyang, 110015, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I108904480"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5052558370"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":3.4192,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.92000944,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"28","issue":"3","first_page":"283","last_page":"294"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"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":0.8688767552375793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7622549533843994},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6606118679046631},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.567088782787323},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5076946020126343},{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.484640896320343},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4764576256275177},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.47481000423431396},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.4679029881954193},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4555450975894928},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.33884310722351074},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3207394480705261},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27375221252441406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2640978693962097},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23872867226600647},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.14120829105377197},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09334290027618408},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.09333693981170654},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.08651554584503174},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08267146348953247}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8688767552375793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7622549533843994},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6606118679046631},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.567088782787323},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5076946020126343},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.484640896320343},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4764576256275177},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.47481000423431396},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.4679029881954193},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4555450975894928},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.33884310722351074},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3207394480705261},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27375221252441406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2640978693962097},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23872867226600647},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.14120829105377197},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09334290027618408},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09333693981170654},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08651554584503174},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08267146348953247},{"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/C150194340","wikidata":"https://www.wikidata.org/wiki/Q26972","display_name":"Gene expression","level":3,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C190727270","wikidata":"https://www.wikidata.org/wiki/Q874745","display_name":"DNA methylation","level":4,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10514-009-9168-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-009-9168-1","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"Autonomous Robots","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W198676126","https://openalex.org/W1263895330","https://openalex.org/W1982628820","https://openalex.org/W1988274707","https://openalex.org/W1994587340","https://openalex.org/W2012847731","https://openalex.org/W2013661116","https://openalex.org/W2057952125","https://openalex.org/W2066680284","https://openalex.org/W2117832310","https://openalex.org/W2117949838","https://openalex.org/W2134753324","https://openalex.org/W2135263543","https://openalex.org/W2135849582","https://openalex.org/W2138646160","https://openalex.org/W2143030465","https://openalex.org/W2149178191","https://openalex.org/W2153871098","https://openalex.org/W2156174987","https://openalex.org/W2165379011","https://openalex.org/W2165903554","https://openalex.org/W3118379215","https://openalex.org/W4248901411","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2151114827","https://openalex.org/W2764257870","https://openalex.org/W1994587340","https://openalex.org/W1981473936","https://openalex.org/W2214217142","https://openalex.org/W2144368969","https://openalex.org/W3157588758","https://openalex.org/W2906866672","https://openalex.org/W2066680284","https://openalex.org/W3215081502"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
