{"id":"https://openalex.org/W2981269493","doi":"https://doi.org/10.1109/aim.2019.8868916","title":"Smooth Gait Transition Based on CPG Network for A Quadruped Robot","display_name":"Smooth Gait Transition Based on CPG Network for A Quadruped Robot","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2981269493","doi":"https://doi.org/10.1109/aim.2019.8868916","mag":"2981269493"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5029340433","display_name":"Linlin Shang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Linlin Shang","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061375599","display_name":"Zhaosheng Li","orcid":"https://orcid.org/0000-0001-8114-0432"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaosheng Li","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392285","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-4023-2845"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019541846","display_name":"Jianqiang Yi","orcid":"https://orcid.org/0000-0003-3268-9482"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiang Yi","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5029340433"],"corresponding_institution_ids":["https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.1956,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.51046169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"358","last_page":"363"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9815999865531921,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9559999704360962,"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/gait","display_name":"Gait","score":0.6591510772705078},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.6250228881835938},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.585768461227417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5763174891471863},{"id":"https://openalex.org/keywords/transition","display_name":"Transition (genetics)","score":0.5440787672996521},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.292802631855011},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22554534673690796},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09194284677505493},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.08840596675872803}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6591510772705078},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.6250228881835938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.585768461227417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5763174891471863},{"id":"https://openalex.org/C194232998","wikidata":"https://www.wikidata.org/wiki/Q1606712","display_name":"Transition (genetics)","level":3,"score":0.5440787672996521},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.292802631855011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22554534673690796},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09194284677505493},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08840596675872803},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C150194340","wikidata":"https://www.wikidata.org/wiki/Q26972","display_name":"Gene expression","level":3,"score":0.0},{"id":"https://openalex.org/C190727270","wikidata":"https://www.wikidata.org/wiki/Q874745","display_name":"DNA methylation","level":4,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2019.8868916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1975230295","https://openalex.org/W1977041457","https://openalex.org/W1995682655","https://openalex.org/W2005805981","https://openalex.org/W2014760134","https://openalex.org/W2062393482","https://openalex.org/W2079224419","https://openalex.org/W2094496385","https://openalex.org/W2098436509","https://openalex.org/W2148430392","https://openalex.org/W2154139861","https://openalex.org/W2155970105","https://openalex.org/W2156739306","https://openalex.org/W2159314753","https://openalex.org/W2166327599","https://openalex.org/W2199396197","https://openalex.org/W2248793639","https://openalex.org/W2764255492","https://openalex.org/W4214746323","https://openalex.org/W6644135095","https://openalex.org/W6691537204"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W1531710418","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"achieving":[2],"smooth":[3,60],"gait":[4,64,73,101],"transition":[5,65,74,95,106],"for":[6,63],"quadruped":[7,90],"robots,":[8],"we":[9,80],"present":[10],"a":[11,88,118],"Hopf":[12],"oscillator-based":[13],"Central":[14],"Pattern":[15],"Generator":[16],"(CPG)":[17],"with":[18],"controllable":[19],"phase":[20,40],"relationships":[21,41],"in":[22,117],"this":[23],"paper.":[24],"The":[25],"proposed":[26],"CPG":[27],"controller":[28,86],"can":[29,46,75],"facilitate":[30],"changing":[31],"parameters":[32],"to":[33,109,113],"generate":[34],"different":[35],"locomotion":[36],"gaits.":[37],"Particularly,":[38],"required":[39],"between":[42],"every":[43],"two":[44],"oscillators":[45],"be":[47,76],"obtained":[48],"by":[49],"modulating":[50],"the":[51,69,72,82],"duty":[52],"factor":[53],"and":[54,93,99,111],"relative":[55],"phases":[56],"of":[57,71,84],"legs.":[58],"Therefore,":[59],"rhythmic":[61],"signals":[62],"are":[66,115],"generated.":[67],"Moreover,":[68],"onset":[70],"designed":[77],"accurately.":[78],"Finally,":[79],"verify":[81],"effectiveness":[83],"our":[85],"on":[87],"simulated":[89],"robot.":[91],"Smooth":[92],"stable":[94],"among":[96],"walk,":[97],"trot":[98,110,112],"pace":[100,114],"has":[102],"been":[103],"achieved.":[104],"Both":[105],"from":[107],"walk":[108],"finished":[116],"second.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-02-11T14:41:00.668223","created_date":"2025-10-10T00:00:00"}