{"id":"https://openalex.org/W4229007226","doi":"https://doi.org/10.1108/ir-08-2021-0181","title":"A CPG-based gait planning and motion performance analysis for quadruped robot","display_name":"A CPG-based gait planning and motion performance analysis for quadruped robot","publication_year":2022,"publication_date":"2022-01-20","ids":{"openalex":"https://openalex.org/W4229007226","doi":"https://doi.org/10.1108/ir-08-2021-0181"},"language":"en","primary_location":{"id":"doi:10.1108/ir-08-2021-0181","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2021-0181","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5034517492","display_name":"ShunXiang Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"ShunXiang Wei","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049705446","display_name":"Haibo Wu","orcid":"https://orcid.org/0000-0003-4347-9472"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Wu","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100322362","display_name":"Liang Liu","orcid":"https://orcid.org/0000-0002-4651-4336"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Liu","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102859408","display_name":"Yixiao Zhang","orcid":"https://orcid.org/0009-0003-6712-9749"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"YiXiao Zhang","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100612959","display_name":"Jiang Chen","orcid":"https://orcid.org/0009-0006-6796-9926"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiang Chen","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102877451","display_name":"Quanfeng Li","orcid":"https://orcid.org/0000-0001-9083-6204"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quanfeng Li","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5034517492"],"corresponding_institution_ids":["https://openalex.org/I10660446"],"apc_list":null,"apc_paid":null,"fwci":1.7165,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.8286375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"49","issue":"4","first_page":"779","last_page":"797"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9785000085830688,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9772999882698059,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7449751496315002},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6425715684890747},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.609519362449646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5690296292304993},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5624867677688599},{"id":"https://openalex.org/keywords/duty-cycle","display_name":"Duty cycle","score":0.5023767948150635},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49241483211517334},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4368904232978821},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36095792055130005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31095242500305176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2953418493270874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11520594358444214},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10340088605880737}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7449751496315002},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6425715684890747},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.609519362449646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5690296292304993},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5624867677688599},{"id":"https://openalex.org/C199822604","wikidata":"https://www.wikidata.org/wiki/Q557120","display_name":"Duty cycle","level":3,"score":0.5023767948150635},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49241483211517334},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4368904232978821},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36095792055130005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31095242500305176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2953418493270874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11520594358444214},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10340088605880737},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-08-2021-0181","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2021-0181","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W48253137","https://openalex.org/W1988274707","https://openalex.org/W1989242880","https://openalex.org/W1993207885","https://openalex.org/W2012565339","https://openalex.org/W2048963734","https://openalex.org/W2050426505","https://openalex.org/W2079224419","https://openalex.org/W2079575923","https://openalex.org/W2103555925","https://openalex.org/W2110466158","https://openalex.org/W2127188258","https://openalex.org/W2331758694","https://openalex.org/W2359336264","https://openalex.org/W2374922137","https://openalex.org/W2515542400","https://openalex.org/W2570138431","https://openalex.org/W2786968259","https://openalex.org/W2800997382","https://openalex.org/W2804108782","https://openalex.org/W2809052420","https://openalex.org/W2942905169","https://openalex.org/W2944016552","https://openalex.org/W2954545295","https://openalex.org/W2965248225","https://openalex.org/W2969223576","https://openalex.org/W2969631840","https://openalex.org/W2980507161","https://openalex.org/W2991618661","https://openalex.org/W3011209855","https://openalex.org/W3039980329","https://openalex.org/W3047789964","https://openalex.org/W3080316973","https://openalex.org/W3082595743","https://openalex.org/W3109424835","https://openalex.org/W3118984173","https://openalex.org/W3119172472","https://openalex.org/W3120935742","https://openalex.org/W3123196627","https://openalex.org/W3140857926"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2989775562","https://openalex.org/W2002316083","https://openalex.org/W2135090907","https://openalex.org/W2171541671","https://openalex.org/W4300925590","https://openalex.org/W2972304041","https://openalex.org/W2386387936","https://openalex.org/W3116659675"],"abstract_inverted_index":{"Purpose":[0],"To":[1],"achieve":[2],"stable":[3],"gait":[4,70,166,205],"planning":[5,71],"and":[6,29,48,72,81,129,136,147,168,184,191,214],"enhance":[7,105,226],"the":[8,36,44,59,69,76,93,106,122,125,130,144,164,172,182,187,198,203,216],"motion":[9,20,107,228],"performance":[10],"of":[11,62,149,171,186,206],"quadruped":[12,94],"robot,":[13],"this":[14],"paper":[15,196],"aims":[16],"to":[17,42,57,67,104,110,120,142,151,180,225],"propose":[18],"a":[19,49,161,219],"control":[21,99],"strategy":[22],"based":[23,86,96],"on":[24,87,97],"central":[25],"pattern":[26],"generator":[27],"(CPG)":[28],"back-propagation":[30],"neural":[31,89],"network":[32,46,208],"(BPNN).":[33],"Design/methodology/approach":[34],"First,":[35],"Kuramoto":[37,211],"phase":[38,52,212],"oscillator":[39],"is":[40,55,84,118,178],"used":[41,141],"construct":[43],"CPG":[45,79,98,207],"model,":[47],"piecewise":[50],"continuous":[51],"difference":[53],"matrix":[54],"designed":[56],"optimize":[58,143],"duty":[60,200],"cycle":[61,201],"walk":[63,204],"gait,":[64],"so":[65,91],"as":[66],"realize":[68],"smooth":[73,165],"switching.":[74],"Second,":[75],"mapper":[77,224],"between":[78,124],"output":[80],"joint":[82],"drive":[83],"established":[85],"BP":[88],"network,":[90],"that":[92],"robot":[95,217],"has":[100],"better":[101,112,220],"foot":[102,127,132,155,169,221],"trajectory":[103,128,170,177,222],"performance.":[108,229],"Finally,":[109],"obtain":[111,152],"mapping":[113],"effect,":[114],"an":[115],"evaluation":[116],"function":[117],"resigned":[119],"evaluate":[121],"proximity":[123],"actual":[126],"ideal":[131],"trajectory.":[133,156],"Genetic":[134],"algorithm":[135],"particle":[137],"swarm":[138],"optimization":[139],"are":[140],"initial":[145],"weights":[146],"thresholds":[148],"BPNN":[150],"more":[153],"accurate":[154],"Findings":[157],"The":[158,174,195],"method":[159,188],"provides":[160],"solution":[162],"for":[163],"switching":[167],"robot.":[173],"quintic":[175],"polynomial":[176],"selected":[179],"testify":[181],"validity":[183],"practicability":[185],"through":[189],"simulation":[190],"prototype":[192],"experiment.":[193],"Originality/value":[194],"solved":[197],"incorrect":[199],"under":[202],"constructed":[209],"by":[210,223],"oscillator,":[213],"made":[215],"have":[218],"its":[227]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-06T07:47:59.780226","created_date":"2025-10-10T00:00:00"}