{"id":"https://openalex.org/W4390187995","doi":"https://doi.org/10.1109/icdl55364.2023.10364410","title":"Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network","display_name":"Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network","publication_year":2023,"publication_date":"2023-11-09","ids":{"openalex":"https://openalex.org/W4390187995","doi":"https://doi.org/10.1109/icdl55364.2023.10364410"},"language":"en","primary_location":{"id":"doi:10.1109/icdl55364.2023.10364410","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icdl55364.2023.10364410","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Development and Learning (ICDL)","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/A5100961547","display_name":"Feiyu Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feiyu Ma","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055684040","display_name":"Weisheng Yan","orcid":"https://orcid.org/0000-0002-6789-4411"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weisheng Yan","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003531526","display_name":"Rongxin Cui","orcid":"https://orcid.org/0000-0002-8006-3620"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongxin Cui","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069684897","display_name":"Xinxin Guo","orcid":"https://orcid.org/0000-0002-1695-4250"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinxin Guo","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008681720","display_name":"Lepeng Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lepeng Chen","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University,Xi&#x0027;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University,Xi&#x0027;an,China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17245513,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"524","last_page":"529"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"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":0.9988999962806702,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9883999824523926,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9801999926567078,"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/central-pattern-generator","display_name":"Central pattern generator","score":0.8115357756614685},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6957269906997681},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6583762764930725},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.6375351548194885},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6165995001792908},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6162711977958679},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5151370763778687},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.47618475556373596},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.47534608840942383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46200889348983765},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4589065611362457},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36279284954071045},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33101731538772583},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.15708240866661072},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13464397192001343},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.09077087044715881},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.07938849925994873},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07681146264076233},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07225430011749268}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8115357756614685},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6957269906997681},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6583762764930725},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.6375351548194885},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6165995001792908},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6162711977958679},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5151370763778687},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.47618475556373596},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.47534608840942383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46200889348983765},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4589065611362457},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36279284954071045},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33101731538772583},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.15708240866661072},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13464397192001343},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.09077087044715881},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.07938849925994873},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07681146264076233},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07225430011749268},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icdl55364.2023.10364410","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icdl55364.2023.10364410","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Development and Learning (ICDL)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.4399999976158142}],"awards":[{"id":"https://openalex.org/G1619978097","display_name":null,"funder_award_id":"U21B2047,U22A2066","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7205593226","display_name":null,"funder_award_id":"G2023KY05104","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2036078241","https://openalex.org/W2044912276","https://openalex.org/W2046127725","https://openalex.org/W2400736277","https://openalex.org/W2609932076","https://openalex.org/W2789741901","https://openalex.org/W2897241879","https://openalex.org/W2897405762","https://openalex.org/W3025180790","https://openalex.org/W3124599507","https://openalex.org/W3130679124","https://openalex.org/W3131605684","https://openalex.org/W3150697952","https://openalex.org/W4220724634","https://openalex.org/W4229007226","https://openalex.org/W4300402905","https://openalex.org/W4309323738"],"related_works":["https://openalex.org/W4390693411","https://openalex.org/W2135090907","https://openalex.org/W1516183183","https://openalex.org/W2088984699","https://openalex.org/W2080439181","https://openalex.org/W2054715726","https://openalex.org/W2517959777","https://openalex.org/W2100531771","https://openalex.org/W1965097389","https://openalex.org/W108729680"],"abstract_inverted_index":{"To":[0],"realize":[1],"continuous":[2],"legged":[3,21],"locomotion":[4],"between":[5,72],"different":[6],"walls,":[7,11],"especially":[8],"the":[9,42,53,69,73,78,85,102],"large-angled":[10],"we":[12,60,83],"present":[13],"a":[14,19,63],"gait":[15,91],"planning":[16],"method":[17],"for":[18,45,93],"underwater":[20],"robot":[22],"based":[23],"on":[24],"central":[25],"pattern":[26],"generator":[27,44],"(CPG)":[28],"and":[29,51,77],"back":[30],"propagation":[31],"(BP)":[32],"neural":[33,65],"network":[34,66,87],"in":[35,56,99],"this":[36],"paper.":[37],"We":[38],"use":[39,84],"CPG":[40],"as":[41],"signal":[43],"hip":[46],"joint":[47,74],"of":[48,80,104],"each":[49],"leg,":[50],"collect":[52],"data":[54],"set":[55,61],"Gazebo.":[57],"After":[58],"that,":[59],"up":[62],"BP":[64],"to":[67,88],"fit":[68],"mapping":[70],"relationship":[71],"rotation":[75],"angle":[76],"output":[79],"CPG.":[81],"Then,":[82],"trained":[86],"generate":[89],"adaptive":[90],"autonomously":[92],"our":[94,105],"robot.":[95],"The":[96],"test":[97],"results":[98],"Gazebo":[100],"verify":[101],"effectiveness":[103],"method.":[106]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
