{"id":"https://openalex.org/W4411336993","doi":"https://doi.org/10.1109/access.2025.3579786","title":"Two-Stage Learning of CPG and Postural Reflex Toward Quadruped Locomotion on Uneven Terrain With Simple Reward","display_name":"Two-Stage Learning of CPG and Postural Reflex Toward Quadruped Locomotion on Uneven Terrain With Simple Reward","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411336993","doi":"https://doi.org/10.1109/access.2025.3579786"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3579786","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3579786","pdf_url":null,"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://doi.org/10.1109/access.2025.3579786","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093781631","display_name":"Ryosei Seto","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryosei Seto","raw_affiliation_strings":["Department of Robotics, Neuro-Robotics Laboratory, Graduate School of Engineering, Tohoku University, Sendai, Japan","Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Neuro-Robotics Laboratory, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002813211","display_name":"Guanda Li","orcid":"https://orcid.org/0000-0002-7711-0895"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Guanda Li","raw_affiliation_strings":["Department of Robotics, Neuro-Robotics Laboratory, Graduate School of Engineering, Tohoku University, Sendai, Japan","Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7711-0895","affiliations":[{"raw_affiliation_string":"Department of Robotics, Neuro-Robotics Laboratory, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058240917","display_name":"Kyo Kutsuzawa","orcid":"https://orcid.org/0000-0002-5326-7847"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kyo Kutsuzawa","raw_affiliation_strings":["Department of Robotics, Neuro-Robotics Laboratory, Graduate School of Engineering, Tohoku University, Sendai, Japan","Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5326-7847","affiliations":[{"raw_affiliation_string":"Department of Robotics, Neuro-Robotics Laboratory, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072945772","display_name":"Dai Owaki","orcid":"https://orcid.org/0000-0003-1217-3892"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Dai Owaki","raw_affiliation_strings":["Department of Robotics, Neuro-Robotics Laboratory, Graduate School of Engineering, Tohoku University, Sendai, Japan","Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1217-3892","affiliations":[{"raw_affiliation_string":"Department of Robotics, Neuro-Robotics Laboratory, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060102825","display_name":"Mitsuhiro Hayashibe","orcid":"https://orcid.org/0000-0001-6179-5706"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Hayashibe","raw_affiliation_strings":["Department of Robotics, Neuro-Robotics Laboratory, Graduate School of Engineering, Tohoku University, Sendai, Japan","Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6179-5706","affiliations":[{"raw_affiliation_string":"Department of Robotics, Neuro-Robotics Laboratory, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5093781631"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.1486,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.77659331,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"13","issue":null,"first_page":"106103","last_page":"106114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8169000148773193,"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":0.8169000148773193,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.7811999917030334,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.7660999894142151,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.765343189239502},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.6761527061462402},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.6011019945144653},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5705409646034241},{"id":"https://openalex.org/keywords/stage","display_name":"Stage (stratigraphy)","score":0.4520556330680847},{"id":"https://openalex.org/keywords/reflex","display_name":"Reflex","score":0.4319702684879303},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3813903331756592},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.31450703740119934},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.21995246410369873},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.19497650861740112},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.15826353430747986},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.11263936758041382}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.765343189239502},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.6761527061462402},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.6011019945144653},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5705409646034241},{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.4520556330680847},{"id":"https://openalex.org/C83974742","wikidata":"https://www.wikidata.org/wiki/Q179405","display_name":"Reflex","level":2,"score":0.4319702684879303},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3813903331756592},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.31450703740119934},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.21995246410369873},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.19497650861740112},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.15826353430747986},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.11263936758041382},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C190727270","wikidata":"https://www.wikidata.org/wiki/Q874745","display_name":"DNA methylation","level":4,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C150194340","wikidata":"https://www.wikidata.org/wiki/Q26972","display_name":"Gene expression","level":3,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3579786","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3579786","pdf_url":null,"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:dfdd741fcefa472e85d022ed90213645","is_oa":true,"landing_page_url":"https://doaj.org/article/dfdd741fcefa472e85d022ed90213645","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 13, Pp 106103-106114 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3579786","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3579786","pdf_url":null,"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":[],"awards":[{"id":"https://openalex.org/G4266316835","display_name":null,"funder_award_id":"24K00841","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1964169670","https://openalex.org/W2141791321","https://openalex.org/W2145890464","https://openalex.org/W2156174987","https://openalex.org/W2158782408","https://openalex.org/W2171073614","https://openalex.org/W2694031977","https://openalex.org/W2907537824","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2911087563","https://openalex.org/W2963184939","https://openalex.org/W3039737909","https://openalex.org/W3093922502","https://openalex.org/W3113616534","https://openalex.org/W3134580056","https://openalex.org/W3175254947","https://openalex.org/W3199990163","https://openalex.org/W4309323738","https://openalex.org/W4383097669","https://openalex.org/W4383108187","https://openalex.org/W4385455461","https://openalex.org/W4388969187","https://openalex.org/W4392693698","https://openalex.org/W4394590021","https://openalex.org/W4394828409","https://openalex.org/W4401414693","https://openalex.org/W6747473740","https://openalex.org/W6767349745","https://openalex.org/W6785407216","https://openalex.org/W6802654813","https://openalex.org/W6847063038","https://openalex.org/W6852786641"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W2069184433","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W2914059119","https://openalex.org/W3040494141"],"abstract_inverted_index":{"Locomotion":[0],"control":[1,119,207],"for":[2,30,209],"quadruped":[3],"robots":[4],"has":[5],"been":[6],"extensively":[7],"studied":[8],"through":[9,179],"various":[10],"methodologies,":[11],"including":[12],"model-based,":[13],"learning-based,":[14],"and":[15,63,125,139,200,227],"bio-inspired":[16,206],"approaches.":[17],"The":[18,188,212],"integration":[19],"of":[20,194,205],"these":[21],"methods":[22],"is":[23,97,106,120,176],"increasingly":[24],"recognized":[25],"as":[26,57,81],"a":[27,69,100,155,184],"powerful":[28],"strategy":[29],"enhancing":[31],"locomotion":[32,169,196,218],"performance.":[33],"Among":[34],"them,":[35],"the":[36,64,87,90,94,104,123,132,145,163,192,203,224,228,234],"Central":[37,45],"Pattern":[38,46],"Generator-Reinforcement":[39],"Learning":[40],"(CPG-RL)":[41],"framework,":[42],"which":[43,127],"combines":[44],"Generators":[47],"(CPG)":[48],"with":[49,68,144,162,183],"reinforcement":[50],"learning":[51,82,182,223,239],"(RL),":[52],"offers":[53],"key":[54],"advantages":[55],"such":[56],"accelerated":[58],"learning,":[59],"improved":[60],"Sim-to-Real":[61],"transfer,":[62],"ability":[65],"to":[66,99,108,131,135,166,202,233],"learn":[67],"simplified":[70,185],"reward":[71,186],"function.":[72,187],"However,":[73],"its":[74,110],"robustness":[75],"on":[76,85,112,170,219],"uneven":[77,113,171,220],"terrains":[78],"remains":[79],"limited,":[80],"primarily":[83],"focuses":[84],"tuning":[86],"parameters":[88,226],"within":[89],"CPG.":[91],"Specifically,":[92],"because":[93],"foot":[95,102,229],"placement":[96,230],"constrained":[98],"pre-designed":[101,235],"trajectory,":[103],"system":[105],"unable":[107],"stabilize":[109],"posture":[111,118],"terrain.":[114],"In":[115],"biological":[116],"systems,":[117],"regulated":[121],"by":[122,149,222],"brainstem":[124],"cerebellum,":[126],"send":[128],"corrective":[129],"signals":[130],"spinal":[133],"cord":[134],"modulate":[136],"muscle":[137],"activity":[138],"maintain":[140],"balance":[141],"in":[142,237],"coordination":[143],"CPG":[146,164,225],"network.":[147],"Inspired":[148],"this":[150,152,174],"mechanism,":[151],"study":[153],"introduces":[154],"postural":[156],"reflex":[157],"network":[158,165],"that":[159],"seamlessly":[160],"integrates":[161],"enhance":[167],"stable":[168],"terrains.":[172],"Notably,":[173],"improvement":[175],"achieved":[177],"exclusively":[178],"piecewise":[180],"sequential":[181],"proposed":[189,213],"approach":[190],"expands":[191],"applicability":[193],"CPG-based":[195,217],"under":[197],"unstructured":[198],"environments":[199],"contributes":[201],"advancement":[204],"strategies":[208],"quadrupedal":[210],"locomotion.":[211],"method":[214],"progressively":[215],"improves":[216],"terrain":[221],"adjustments":[231],"relative":[232],"trajectory":[236],"two-stage":[238],"manner.":[240]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-06-17T00:00:00"}
