{"id":"https://openalex.org/W3112176965","doi":"https://doi.org/10.1109/access.2020.3045227","title":"Research on Motion Mode Switching Method Based on CPG Network Reconstruction","display_name":"Research on Motion Mode Switching Method Based on CPG Network Reconstruction","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3112176965","doi":"https://doi.org/10.1109/access.2020.3045227","mag":"3112176965"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3045227","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3045227","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09296306.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09296306.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017411379","display_name":"Zheping Yan","orcid":"https://orcid.org/0000-0002-5598-0275"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheping Yan","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100642438","display_name":"Haoyu Yang","orcid":"https://orcid.org/0000-0003-3626-1555"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyu Yang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-3626-1555","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100653327","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-1059-3642"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082540764","display_name":"Qingshuo Gong","orcid":"https://orcid.org/0000-0003-4080-4612"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingshuo Gong","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075987606","display_name":"Fantai Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fantai Lin","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.2449,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.7913328,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"224871","last_page":"224883"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9865000247955322,"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/crawling","display_name":"Crawling","score":0.7402051687240601},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6917769908905029},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.6548574566841125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6520166397094727},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.6245281100273132},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5924041271209717},{"id":"https://openalex.org/keywords/motion-controller","display_name":"Motion controller","score":0.5571630001068115},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5369949340820312},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5077658891677856},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4566461443901062},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4290340542793274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25833001732826233},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17684826254844666},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.15868842601776123},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1254710555076599}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.7402051687240601},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6917769908905029},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.6548574566841125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6520166397094727},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.6245281100273132},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5924041271209717},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.5571630001068115},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5369949340820312},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5077658891677856},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4566461443901062},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4290340542793274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25833001732826233},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17684826254844666},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.15868842601776123},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1254710555076599},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3045227","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3045227","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09296306.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b994310c3c7644a081332efbff8fcb2f","is_oa":true,"landing_page_url":"https://doaj.org/article/b994310c3c7644a081332efbff8fcb2f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 224871-224883 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3045227","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3045227","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09296306.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G1401733761","display_name":null,"funder_award_id":"51679057","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1898690313","display_name":null,"funder_award_id":"J2016JQ0052","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G429569318","display_name":"\u52a8\u57fa\u5ea7UUV\u56de\u575e\u8fc7\u7a0b\u4e2d\u5a01\u80c1\u6700\u5c0f\u8ddf\u8e2a\u63a7\u5236\u65b9\u6cd5\u7814\u7a76","funder_award_id":"52071108","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6935369378","display_name":null,"funder_award_id":"E1102/52071108","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G746292463","display_name":null,"funder_award_id":"51609046","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3112176965.pdf","grobid_xml":"https://content.openalex.org/works/W3112176965.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1146793508","https://openalex.org/W1999272004","https://openalex.org/W2046657031","https://openalex.org/W2048963734","https://openalex.org/W2065334829","https://openalex.org/W2090074774","https://openalex.org/W2117289015","https://openalex.org/W2126945056","https://openalex.org/W2135234927","https://openalex.org/W2151379280","https://openalex.org/W2156174987","https://openalex.org/W2158410205","https://openalex.org/W2432869120","https://openalex.org/W2462888571","https://openalex.org/W2469381446","https://openalex.org/W2604870686","https://openalex.org/W2605035932","https://openalex.org/W2609932076","https://openalex.org/W2662647503","https://openalex.org/W2753057225","https://openalex.org/W2793832924","https://openalex.org/W2913775185","https://openalex.org/W2924143887","https://openalex.org/W2944577111","https://openalex.org/W2970787103","https://openalex.org/W2985853352","https://openalex.org/W2992570163","https://openalex.org/W3027170919","https://openalex.org/W3100298113","https://openalex.org/W6717995793"],"related_works":["https://openalex.org/W2786968259","https://openalex.org/W2120166307","https://openalex.org/W2906866672","https://openalex.org/W2127940313","https://openalex.org/W2110084825","https://openalex.org/W2057225245","https://openalex.org/W2354203711","https://openalex.org/W2376683934","https://openalex.org/W2370564582","https://openalex.org/W2369744211"],"abstract_inverted_index":{"Traditional":[0],"underwater":[1,25,34,40],"robots":[2],"have":[3,59],"many":[4],"shortcomings":[5],"in":[6,123,139],"terms":[7],"of":[8,24,78,132,173,205],"resistance":[9],"to":[10,18,54,58,62,96,99,128,170,188,212],"sea":[11],"currents,":[12],"stability":[13],"and":[14,22,30,38,50,74,92,151,157,183,195,218,224],"functionality.":[15],"In":[16,52,94],"order":[17,53,95],"improve":[19],"the":[20,36,56,60,76,79,86,102,109,120,124,129,133,140,158,166,171,174,190,219],"efficiency":[21],"quality":[23],"operations,":[26],"this":[27,66,202],"paper":[28,67],"proposes":[29],"designs":[31],"a":[32,69,105,146,152],"new":[33],"robot,":[35],"navigation":[37],"crawl":[39],"unmanned":[41],"vehicle":[42],"(NCUUV),":[43],"it":[44],"has":[45,88,143],"two":[46,144,167,178],"motion":[47,64,70,90,103,206,215],"modes:":[48],"swimming":[49,182,194],"crawling.":[51,196],"enable":[55,210],"robot":[57],"ability":[61],"switch":[63,101],"modes,":[65],"designed":[68],"mode":[71,207,216],"switching":[72,192,208,217,220],"mechanism,":[73],"verified":[75],"effectiveness":[77],"mechanism":[80,87,204],"through":[81],"experiments,":[82],"which":[83],"proved":[84],"that":[85,201],"good":[89],"reliability":[91],"accuracy.":[93],"control":[97,180,203],"NCUUV":[98,211],"smoothly":[100],"mode,":[104],"controller":[106,118,126,142],"based":[107],"on":[108],"central":[110],"pattern":[111],"generator":[112],"(CPG)":[113],"was":[114],"developed.":[115],"The":[116,136,197],"upper":[117,175],"reconstructs":[119],"CPG":[121,137,159],"network":[122,138,150,160],"middle":[125,141],"according":[127,169],"feedback":[130],"information":[131],"acoustic":[134],"rangefinder.":[135],"configurations:":[145],"triangular":[147],"fully":[148,154],"symmetrical":[149,155],"hexagonal":[153],"network,":[156],"can":[161,209],"be":[162],"freely":[163],"changed":[164],"between":[165,193],"configurations":[168,179],"instructions":[172],"controller.":[176],"These":[177],"NCUUV\u2019s":[181],"crawling":[184],"respectively,":[185],"so":[186],"as":[187],"realize":[189,214],"smooth":[191,223],"experimental":[198],"result":[199],"shows":[200],"stably":[213],"process":[221],"is":[222],"reliable.":[225]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}