{"id":"https://openalex.org/W4407979016","doi":"https://doi.org/10.1017/s0263574725000244","title":"Adaptive optimization for virtual model control of quadruped robots based on BP neural network","display_name":"Adaptive optimization for virtual model control of quadruped robots based on BP neural network","publication_year":2025,"publication_date":"2025-02-26","ids":{"openalex":"https://openalex.org/W4407979016","doi":"https://doi.org/10.1017/s0263574725000244"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725000244","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725000244","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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":null,"display_name":"Jianwen Liu","orcid":"https://orcid.org/0009-0006-5307-8321"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianwen Liu","raw_affiliation_strings":["College of Intelligent Science, National University of Defense Technology, Changsha, PR China"],"raw_orcid":"https://orcid.org/0009-0006-5307-8321","affiliations":[{"raw_affiliation_string":"College of Intelligent Science, National University of Defense Technology, Changsha, PR China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101189873","display_name":"Xiaojun Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojun Xu","raw_affiliation_strings":["College of Intelligent Science, National University of Defense Technology, Changsha, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Science, National University of Defense Technology, Changsha, PR China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103325669","display_name":"Wenhao Wang","orcid":"https://orcid.org/0000-0002-3199-2618"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhao Wang","raw_affiliation_strings":["College of Intelligent Science, National University of Defense Technology, Changsha, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Science, National University of Defense Technology, Changsha, PR China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063259402","display_name":"Yuanjiang Tang","orcid":"https://orcid.org/0000-0002-9308-5351"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanjiang Tang","raw_affiliation_strings":["College of Intelligent Science, National University of Defense Technology, Changsha, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Science, National University of Defense Technology, Changsha, PR China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051232845","display_name":"Shengyang Lu","orcid":"https://orcid.org/0009-0004-3594-8958"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengyang Lu","raw_affiliation_strings":["College of Intelligent Science, National University of Defense Technology, Changsha, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Science, National University of Defense Technology, Changsha, PR China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":2.0995,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.85467155,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"43","issue":"4","first_page":"1258","last_page":"1290"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9828000068664551,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/artificial-neural-network","display_name":"Artificial neural network","score":0.7431015372276306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5837376117706299},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.528890073299408},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5048282742500305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48783472180366516},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46719762682914734},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4163861572742462},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3084983825683594}],"concepts":[{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.7431015372276306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5837376117706299},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.528890073299408},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5048282742500305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48783472180366516},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46719762682914734},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4163861572742462},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3084983825683594}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725000244","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725000244","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1988274707","https://openalex.org/W2028070629","https://openalex.org/W2046084401","https://openalex.org/W2054186704","https://openalex.org/W2085596987","https://openalex.org/W2111527309","https://openalex.org/W2127000383","https://openalex.org/W2149606028","https://openalex.org/W2161427949","https://openalex.org/W2277080249","https://openalex.org/W2288348950","https://openalex.org/W2758703169","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2958536588","https://openalex.org/W2964384054","https://openalex.org/W2983633333","https://openalex.org/W3033368675","https://openalex.org/W3046834314","https://openalex.org/W3091798771","https://openalex.org/W3112819272","https://openalex.org/W3153915866","https://openalex.org/W3194883591","https://openalex.org/W3202509693","https://openalex.org/W4200187710","https://openalex.org/W4212932854","https://openalex.org/W4255618545","https://openalex.org/W4283034859","https://openalex.org/W4327571576","https://openalex.org/W4385748641","https://openalex.org/W4387940697","https://openalex.org/W4388924411","https://openalex.org/W4389508846","https://openalex.org/W4390112176","https://openalex.org/W4391131278","https://openalex.org/W4392619926","https://openalex.org/W4399262048","https://openalex.org/W4402461874","https://openalex.org/W4402617971","https://openalex.org/W4402697017","https://openalex.org/W4403050234","https://openalex.org/W4405338320","https://openalex.org/W6678343519"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2391251536","https://openalex.org/W2967743314","https://openalex.org/W2969358681","https://openalex.org/W2112559358","https://openalex.org/W2107122120","https://openalex.org/W194970950","https://openalex.org/W2342009288"],"abstract_inverted_index":{"Abstract":[0],"The":[1],"virtual":[2,22,129,139],"model":[3,11,106,116,142],"control":[4,30,59,156,164,171,188],"(VMC)":[5],"method":[6,185],"establishes":[7],"a":[8,97,103,113,138,154,193,200,208],"direct":[9,28],"correlation":[10],"between":[12],"the":[13,16,33,40,51,90,125,135,162,168,183,221],"end-effector":[14],"and":[15,78,119,190,207],"main":[17],"body":[18],"by":[19],"selecting":[20],"appropriate":[21],"mechanical":[23,140],"components.":[24],"This":[25,131,218],"approach":[26,132],"facilitates":[27],"force":[29],"while":[31],"circumventing":[32],"necessity":[34],"for":[35,68,147],"complex":[36,76],"dynamic":[37,227],"modeling.":[38,152],"However,":[39],"simplification":[41],"inherent":[42],"in":[43,48,50,74,134,177,196,203,211,226],"this":[44,87],"modeling":[45],"can":[46],"result":[47],"inaccuracies":[49],"calculation":[52],"of":[53,128,137,170],"joint":[54],"driving":[55],"torques,":[56],"ultimately":[57],"diminishing":[58],"precision.":[60],"Moreover,":[61],"VMC":[62,115,181],"typically":[63],"depends":[64],"on":[65,96,161],"predefined":[66],"models":[67],"control,":[69],"which":[70,93],"constrains":[71],"its":[72],"adaptability":[73,225],"dynamically":[75],"environments":[77],"under":[79],"varying":[80],"movement":[81],"conditions.":[82,217],"To":[83],"address":[84],"these":[85],"limitations,":[86],"paper":[88],"proposes":[89],"BP-VMC":[91,163,184,222],"method,":[92],"is":[94],"based":[95,160],"backpropagation":[98],"neural":[99],"network":[100],"(BPNN).":[101],"Initially,":[102],"quadruped":[104],"robot":[105],"was":[107,117,121,158],"established":[108],"through":[109],"kinematic":[110],"analysis.":[111],"Subsequently,":[112],"decomposed":[114],"developed,":[118],"BPNN":[120],"introduced":[122],"to":[123,166,179],"facilitate":[124],"adaptive":[126,144],"tuning":[127],"parameters.":[130],"resulted":[133],"creation":[136],"component":[141],"with":[143],"capabilities,":[145],"compensating":[146],"errors":[148],"arising":[149],"from":[150],"simplified":[151],"Finally,":[153],"simulation":[155],"system":[157],"constructed":[159],"framework":[165],"validate":[167],"optimization":[169],"performance.":[172],"Simulation":[173],"experiments":[174],"demonstrated":[175],"that,":[176],"comparison":[178],"traditional":[180],"methods,":[182],"exhibits":[186],"enhanced":[187],"accuracy":[189],"stability,":[191],"achieving":[192],"30%":[194],"reduction":[195,202],"trajectory":[197],"tracking":[198,205],"error,":[199,206],"40%":[201],"velocity":[204],"20\u201330%":[209],"improvement":[210],"instability":[212],"indices":[213],"across":[214],"various":[215],"working":[216],"evidence":[219],"underscores":[220],"method\u2019s":[223],"robust":[224],"environments.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}
