{"id":"https://openalex.org/W4285730619","doi":"https://doi.org/10.1038/s42256-022-00505-4","title":"Learning plastic matching of robot dynamics in closed-loop central pattern generators","display_name":"Learning plastic matching of robot dynamics in closed-loop central pattern generators","publication_year":2022,"publication_date":"2022-07-18","ids":{"openalex":"https://openalex.org/W4285730619","doi":"https://doi.org/10.1038/s42256-022-00505-4"},"language":"en","primary_location":{"id":"doi:10.1038/s42256-022-00505-4","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s42256-022-00505-4","pdf_url":"https://www.nature.com/articles/s42256-022-00505-4.pdf","source":{"id":"https://openalex.org/S2912241403","display_name":"Nature Machine Intelligence","issn_l":"2522-5839","issn":["2522-5839"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Nature Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.nature.com/articles/s42256-022-00505-4.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079998372","display_name":"Felix Ruppert","orcid":"https://orcid.org/0000-0002-4200-1250"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Felix Ruppert","raw_affiliation_strings":["Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074721771","display_name":"Alexander Badri\u2013Spr\u00f6witz","orcid":"https://orcid.org/0000-0002-3864-7307"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Badri-Spr\u00f6witz","raw_affiliation_strings":["Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5079998372"],"corresponding_institution_ids":["https://openalex.org/I4210135521"],"apc_list":{"value":9750,"currency":"EUR","value_usd":11690},"apc_paid":{"value":9750,"currency":"EUR","value_usd":11690},"fwci":2.9319,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.91476267,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"4","issue":"7","first_page":"652","last_page":"660"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.988099992275238,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9861000180244446,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6447073221206665},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6089375019073486},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5591068863868713},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.5043410062789917},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4659123718738556},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4613620638847351},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4193820357322693},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34208762645721436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28828921914100647},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28330403566360474},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19219589233398438},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14297792315483093}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6447073221206665},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6089375019073486},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5591068863868713},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.5043410062789917},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4659123718738556},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4613620638847351},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4193820357322693},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34208762645721436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28828921914100647},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28330403566360474},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19219589233398438},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14297792315483093},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"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/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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1038/s42256-022-00505-4","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s42256-022-00505-4","pdf_url":"https://www.nature.com/articles/s42256-022-00505-4.pdf","source":{"id":"https://openalex.org/S2912241403","display_name":"Nature Machine Intelligence","issn_l":"2522-5839","issn":["2522-5839"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Nature Machine Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1038/s42256-022-00505-4","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s42256-022-00505-4","pdf_url":"https://www.nature.com/articles/s42256-022-00505-4.pdf","source":{"id":"https://openalex.org/S2912241403","display_name":"Nature Machine Intelligence","issn_l":"2522-5839","issn":["2522-5839"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Nature Machine Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G1599909685","display_name":null,"funder_award_id":"IMPRS","funder_id":"https://openalex.org/F4320322434","funder_display_name":"Max-Planck-Gesellschaft"},{"id":"https://openalex.org/G8923900407","display_name":null,"funder_award_id":"IMPRS-IS","funder_id":"https://openalex.org/F4320322434","funder_display_name":"Max-Planck-Gesellschaft"}],"funders":[{"id":"https://openalex.org/F4320317967","display_name":"International Max Planck Research School for Environmental, Cellular and Molecular Microbiology","ror":null},{"id":"https://openalex.org/F4320322434","display_name":"Max-Planck-Gesellschaft","ror":"https://ror.org/01hhn8329"},{"id":"https://openalex.org/F4320327553","display_name":"International Max Planck Research School for Advanced Methods in Process and Systems Engineering","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285730619.pdf","grobid_xml":"https://content.openalex.org/works/W4285730619.grobid-xml"},"referenced_works_count":67,"referenced_works":["https://openalex.org/W256776660","https://openalex.org/W770013183","https://openalex.org/W1540219172","https://openalex.org/W1969232476","https://openalex.org/W1981717102","https://openalex.org/W1989796457","https://openalex.org/W1995248384","https://openalex.org/W2001685400","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2015201597","https://openalex.org/W2022300194","https://openalex.org/W2023531701","https://openalex.org/W2029058516","https://openalex.org/W2048963734","https://openalex.org/W2050426505","https://openalex.org/W2058401197","https://openalex.org/W2061524636","https://openalex.org/W2067051609","https://openalex.org/W2086645385","https://openalex.org/W2093937828","https://openalex.org/W2094496385","https://openalex.org/W2107650070","https://openalex.org/W2119105564","https://openalex.org/W2122107405","https://openalex.org/W2127981366","https://openalex.org/W2141445929","https://openalex.org/W2141791321","https://openalex.org/W2143503258","https://openalex.org/W2151002610","https://openalex.org/W2156191906","https://openalex.org/W2166402585","https://openalex.org/W2169470463","https://openalex.org/W2293019713","https://openalex.org/W2295130897","https://openalex.org/W2327672728","https://openalex.org/W2334471582","https://openalex.org/W2346505884","https://openalex.org/W2397190063","https://openalex.org/W2541240395","https://openalex.org/W2694031977","https://openalex.org/W2738799195","https://openalex.org/W2792472204","https://openalex.org/W2888838392","https://openalex.org/W2891101479","https://openalex.org/W2911423343","https://openalex.org/W2922057017","https://openalex.org/W2929961598","https://openalex.org/W2962934621","https://openalex.org/W2963184939","https://openalex.org/W2963863465","https://openalex.org/W2967211549","https://openalex.org/W3011771794","https://openalex.org/W3038194455","https://openalex.org/W3090251570","https://openalex.org/W3090798040","https://openalex.org/W3104537609","https://openalex.org/W3105904426","https://openalex.org/W3129568053","https://openalex.org/W3167801019","https://openalex.org/W3187133229","https://openalex.org/W3194488868","https://openalex.org/W4220918847","https://openalex.org/W4250058668","https://openalex.org/W4287818847","https://openalex.org/W6806443638","https://openalex.org/W6944112519"],"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/W2107269361","https://openalex.org/W2076425740","https://openalex.org/W2786968259","https://openalex.org/W2576969689"],"abstract_inverted_index":{"Abstract":[0],"Animals":[1],"achieve":[2],"agile":[3],"locomotion":[4,28],"performance":[5],"with":[6,69],"reduced":[7],"control":[8,47],"effort":[9],"and":[10,19,49,58,118],"energy":[11,135],"efficiency":[12,136],"by":[13,62,79,137],"leveraging":[14,126],"compliance":[15],"in":[16,36,142],"their":[17,37],"muscles":[18],"tendons.":[20],"However,":[21],"it":[22],"is":[23,77,87],"not":[24],"known":[25],"how":[26],"biological":[27],"controllers":[29],"learn":[30],"to":[31,45,89,111,115,120],"leverage":[32],"the":[33,53,100,106,113,127,143],"intelligence":[34],"embodied":[35],"leg":[38],"mechanics.":[39],"Here":[40],"we":[41,64],"present":[42],"a":[43,66,80],"framework":[44],"match":[46,112],"patterns":[48],"mechanics":[50,117],"based":[51],"on":[52,105],"concept":[54],"of":[55,102,129],"short-term":[56,92],"elasticity":[57],"long-term":[59],"plasticity.":[60],"Inspired":[61],"animals,":[63],"design":[65],"robot,":[67],"Morti,":[68],"passive":[70],"elastic":[71],"legs.":[72],"The":[73],"quadruped":[74],"robot":[75],"Morti":[76,109,132],"controlled":[78],"bioinspired":[81],"closed-loop":[82],"central":[83],"pattern":[84],"generator":[85],"that":[86],"designed":[88],"elastically":[90],"mitigate":[91],"perturbations":[93],"using":[94],"sparse":[95],"contact":[96],"feedback.":[97],"By":[98,125],"minimizing":[99],"amount":[101],"corrective":[103],"feedback":[104],"long":[107],"term,":[108],"learns":[110,119],"controller":[114],"its":[116,130,134],"walk":[121],"within":[122],"1":[123],"h.":[124],"advantages":[128],"mechanics,":[131],"improves":[133],"42%":[138],"without":[139],"explicit":[140],"minimization":[141],"cost":[144],"function.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}