{"id":"https://openalex.org/W2804108782","doi":"https://doi.org/10.1016/j.robot.2018.05.009","title":"A backward control based on <mml:math xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" id=\"mml6\" display=\"inline\" overflow=\"scroll\" altimg=\"si6.gif\"><mml:mi mathvariant=\"normal\">\u03c3</mml:mi></mml:math>-Hopf oscillator with decoupled parameters for smooth locomotion of bio-inspired legged robot","display_name":"A backward control based on <mml:math xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" id=\"mml6\" display=\"inline\" overflow=\"scroll\" altimg=\"si6.gif\"><mml:mi mathvariant=\"normal\">\u03c3</mml:mi></mml:math>-Hopf oscillator with decoupled parameters for smooth locomotion of bio-inspired legged robot","publication_year":2018,"publication_date":"2018-05-22","ids":{"openalex":"https://openalex.org/W2804108782","doi":"https://doi.org/10.1016/j.robot.2018.05.009","mag":"2804108782"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2018.05.009","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2018.05.009","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","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/A5004150511","display_name":"Yaguang Zhu","orcid":"https://orcid.org/0000-0001-9103-4211"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yaguang Zhu","raw_affiliation_strings":["Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310028, China","Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310028, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055925606","display_name":"Yongsheng Wu","orcid":"https://orcid.org/0009-0002-7674-6960"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongsheng Wu","raw_affiliation_strings":["Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101521071","display_name":"Qiong Liu","orcid":"https://orcid.org/0000-0002-4128-2273"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiong Liu","raw_affiliation_strings":["Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060012186","display_name":"Tong Guo","orcid":"https://orcid.org/0000-0001-9517-6006"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Guo","raw_affiliation_strings":["Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101455049","display_name":"Rui Qin","orcid":"https://orcid.org/0000-0002-8755-0907"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Qin","raw_affiliation_strings":["Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100779278","display_name":"Jizhuang Hui","orcid":"https://orcid.org/0000-0003-3661-1033"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jizhuang Hui","raw_affiliation_strings":["Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang\u2019an University, Xi\u2019an, 710064, China","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China","institution_ids":["https://openalex.org/I25355098"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5004150511"],"corresponding_institution_ids":["https://openalex.org/I25355098","https://openalex.org/I76130692"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":null,"fwci":1.5524,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.81658768,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"106","issue":null,"first_page":"165","last_page":"178"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.9991999864578247,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9868999719619751,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9861999750137329,"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/computer-science","display_name":"Computer science","score":0.7451088428497314},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.7168866395950317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6587908267974854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5064789056777954},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4968586266040802},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4903106987476349},{"id":"https://openalex.org/keywords/duty-cycle","display_name":"Duty cycle","score":0.480271577835083},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4472023546695709},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3751959502696991},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3740776777267456},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.20380672812461853},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17971915006637573},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.08627095818519592}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7451088428497314},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.7168866395950317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6587908267974854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5064789056777954},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4968586266040802},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4903106987476349},{"id":"https://openalex.org/C199822604","wikidata":"https://www.wikidata.org/wiki/Q557120","display_name":"Duty cycle","level":3,"score":0.480271577835083},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4472023546695709},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3751959502696991},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3740776777267456},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.20380672812461853},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17971915006637573},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.08627095818519592},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.robot.2018.05.009","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2018.05.009","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2460779454","display_name":null,"funder_award_id":"2016M592728","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G265916904","display_name":null,"funder_award_id":"51605039","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6904485908","display_name":null,"funder_award_id":"300102258402","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":82,"referenced_works":["https://openalex.org/W177920343","https://openalex.org/W201161842","https://openalex.org/W1494916908","https://openalex.org/W1869895017","https://openalex.org/W1968276597","https://openalex.org/W1969101332","https://openalex.org/W1977041457","https://openalex.org/W1980788971","https://openalex.org/W1984986877","https://openalex.org/W1988274707","https://openalex.org/W1988422156","https://openalex.org/W1988706203","https://openalex.org/W1990481973","https://openalex.org/W1990723956","https://openalex.org/W1992519650","https://openalex.org/W1995837155","https://openalex.org/W2007692721","https://openalex.org/W2014760134","https://openalex.org/W2015367659","https://openalex.org/W2017246098","https://openalex.org/W2025849537","https://openalex.org/W2026846936","https://openalex.org/W2040344946","https://openalex.org/W2040644102","https://openalex.org/W2045903913","https://openalex.org/W2048485798","https://openalex.org/W2048963734","https://openalex.org/W2050426505","https://openalex.org/W2051707289","https://openalex.org/W2052719935","https://openalex.org/W2057952125","https://openalex.org/W2061524636","https://openalex.org/W2065220180","https://openalex.org/W2071313546","https://openalex.org/W2071406810","https://openalex.org/W2073068526","https://openalex.org/W2078794407","https://openalex.org/W2078839622","https://openalex.org/W2079224419","https://openalex.org/W2082264446","https://openalex.org/W2085758546","https://openalex.org/W2089644250","https://openalex.org/W2102443879","https://openalex.org/W2108750336","https://openalex.org/W2110288122","https://openalex.org/W2110466158","https://openalex.org/W2113780589","https://openalex.org/W2114006433","https://openalex.org/W2116801943","https://openalex.org/W2126097529","https://openalex.org/W2131282721","https://openalex.org/W2134070823","https://openalex.org/W2141791321","https://openalex.org/W2159367813","https://openalex.org/W2168448159","https://openalex.org/W2242465092","https://openalex.org/W2394353172","https://openalex.org/W2516404554","https://openalex.org/W2525123157","https://openalex.org/W2605338804","https://openalex.org/W2741360616","https://openalex.org/W2800386138","https://openalex.org/W2825421424","https://openalex.org/W2947872476","https://openalex.org/W4205937065","https://openalex.org/W4234490582","https://openalex.org/W4365799847","https://openalex.org/W6607124135","https://openalex.org/W6608216756","https://openalex.org/W6647364170","https://openalex.org/W6654827580","https://openalex.org/W6662291933","https://openalex.org/W6663633639","https://openalex.org/W6667039309","https://openalex.org/W6668840719","https://openalex.org/W6672742865","https://openalex.org/W6675751305","https://openalex.org/W6677110198","https://openalex.org/W6679745275","https://openalex.org/W6690617259","https://openalex.org/W6727704822","https://openalex.org/W6997322896"],"related_works":["https://openalex.org/W1990068838","https://openalex.org/W2113517406","https://openalex.org/W2060577328","https://openalex.org/W2088984699","https://openalex.org/W2052071424","https://openalex.org/W2154526094","https://openalex.org/W2144368969","https://openalex.org/W2576969689","https://openalex.org/W2350319669","https://openalex.org/W2387672602"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2018-06-01T00:00:00"}
