{"id":"https://openalex.org/W2889546910","doi":"https://doi.org/10.1109/icca.2018.8444243","title":"Motion Control of a Snake Robot via Cerebellum-inspired Learning Control","display_name":"Motion Control of a Snake Robot via Cerebellum-inspired Learning Control","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2889546910","doi":"https://doi.org/10.1109/icca.2018.8444243","mag":"2889546910"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2018.8444243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2018.8444243","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE 14th International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5113370201","display_name":"Wenjuan Ouyang","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjuan Ouyang","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088001268","display_name":"Chenzui Li","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenzui Li","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080546069","display_name":"Wenyu Liang","orcid":"https://orcid.org/0000-0003-0278-2723"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wenyu Liang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041199618","display_name":"Qinyuan Ren","orcid":"https://orcid.org/0000-0001-9487-2675"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinyuan Ren","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100741314","display_name":"Li Ping","orcid":"https://orcid.org/0000-0002-4933-5093"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Li","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1010","last_page":"1015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9930999875068665,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9930999875068665,"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9767000079154968,"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/cerebellar-model-articulation-controller","display_name":"Cerebellar model articulation controller","score":0.8887956738471985},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6760332584381104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6092846393585205},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5916280746459961},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5556240677833557},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5326093435287476},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5274795889854431},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4892904460430145},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4689685106277466},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45899584889411926},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45602932572364807},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.42842161655426025},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41189494729042053},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3836836814880371},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2601039409637451},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17977100610733032}],"concepts":[{"id":"https://openalex.org/C2780576740","wikidata":"https://www.wikidata.org/wiki/Q5064071","display_name":"Cerebellar model articulation controller","level":3,"score":0.8887956738471985},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6760332584381104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6092846393585205},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5916280746459961},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5556240677833557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5326093435287476},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5274795889854431},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4892904460430145},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4689685106277466},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45899584889411926},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45602932572364807},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.42842161655426025},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41189494729042053},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3836836814880371},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2601039409637451},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17977100610733032},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2018.8444243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2018.8444243","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE 14th International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W98734704","https://openalex.org/W1456336834","https://openalex.org/W1889531669","https://openalex.org/W1964206218","https://openalex.org/W2013815893","https://openalex.org/W2020778248","https://openalex.org/W2031937032","https://openalex.org/W2033910955","https://openalex.org/W2049044440","https://openalex.org/W2127946960","https://openalex.org/W2138556098","https://openalex.org/W2340450332","https://openalex.org/W2344451648","https://openalex.org/W2580668749","https://openalex.org/W2604397499","https://openalex.org/W2753451444","https://openalex.org/W2762975941"],"related_works":["https://openalex.org/W2109289736","https://openalex.org/W2355060733","https://openalex.org/W169781907","https://openalex.org/W2019100121","https://openalex.org/W1821766850","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2001900524","https://openalex.org/W2917916498","https://openalex.org/W1531114845"],"abstract_inverted_index":{"This":[0],"paper":[1],"explores":[2],"the":[3,18,43,47,53,65,71,77,82,89,95,98,102,109,118,132,135],"body":[4],"motion":[5,137],"control":[6,15,99,138],"of":[7,46,70,97,120,134],"a":[8,13,34,56,113],"biomimetic":[9],"snake":[10],"robot":[11,48],"via":[12,49],"cerebellum-inspired":[14],"scheme.":[16],"In":[17,117],"scheme,":[19],"two":[20],"corrective":[21],"actions":[22],"are":[23,128],"conducted,":[24],"namely":[25],"adaptive":[26],"compensation":[27],"and":[28,52,76,92],"feedback":[29,115],"correction.":[30],"The":[31],"former":[32],"adopts":[33],"cerebellar":[35],"model":[36,90],"articulation":[37],"controller":[38,59,104],"(C-":[39],"MAC)":[40],"to":[41,60,64,87,107,130],"compute":[42],"inverse":[44],"dynamics":[45],"online":[50],"learning":[51,79],"latter":[54],"employs":[55],"proportional-derivative":[57],"(PD)":[58],"provide":[61],"correction":[62],"terms":[63],"desired":[66],"motion.":[67],"By":[68],"virtue":[69],"universal":[72],"nonlinear":[73],"approximation":[74],"ability":[75],"rapid":[78],"response":[80],"rate,":[81],"proposed":[83,136],"CMAC":[84],"is":[85,105],"able":[86],"compensate":[88],"uncertainties":[91],"thus":[93],"enhance":[94],"adaptability":[96],"system.":[100],"Moreover,":[101],"PD":[103],"utilized":[106],"expedite":[108],"converge":[110],"speed":[111],"through":[112],"regular":[114],"mechanism.":[116],"end":[119],"paper,":[121],"simulation":[122],"studies":[123],"in":[124],"different":[125],"friction":[126],"cases":[127],"offered":[129],"validate":[131],"effectiveness":[133],"approach.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
