{"id":"https://openalex.org/W2072980678","doi":"https://doi.org/10.1109/indin.2012.6300899","title":"Central pattern generators of adaptive frequency for locomotion control of quadruped robots","display_name":"Central pattern generators of adaptive frequency for locomotion control of quadruped robots","publication_year":2012,"publication_date":"2012-07-01","ids":{"openalex":"https://openalex.org/W2072980678","doi":"https://doi.org/10.1109/indin.2012.6300899","mag":"2072980678"},"language":"en","primary_location":{"id":"doi:10.1109/indin.2012.6300899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin.2012.6300899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE 10th International Conference on Industrial Informatics","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/A5034461873","display_name":"Long Teng","orcid":"https://orcid.org/0000-0003-4853-3255"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Long Teng","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","School of Automation Science and Electrical Engineering, BEIHANG University, Beijing, China#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, BEIHANG University, Beijing, China#TAB#","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100374733","display_name":"Xingming Wu","orcid":"https://orcid.org/0000-0001-8900-3256"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingming Wu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","School of Automation Science and Electrical Engineering, BEIHANG University, Beijing, China#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, BEIHANG University, Beijing, China#TAB#","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026365889","display_name":"Weihai Chen","orcid":"https://orcid.org/0000-0001-7912-4505"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihai Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","School of Automation Science and Electrical Engineering, BEIHANG University, Beijing, China#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, BEIHANG University, Beijing, China#TAB#","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100420038","display_name":"Jianhua Wang","orcid":"https://orcid.org/0000-0002-5160-1901"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Wang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","School of Automation Science and Electrical Engineering, BEIHANG University, Beijing, China#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, BEIHANG University, Beijing, China#TAB#","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034461873"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.2017,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56895437,"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":"586","last_page":"590"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9722999930381775,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9467068910598755},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7506561279296875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6224358081817627},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.6160431504249573},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.49800539016723633},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.452651709318161},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.43674522638320923},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.43347668647766113},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4197171926498413},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.41898801922798157},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4076195955276489},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21920594573020935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.195857971906662},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12675413489341736},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.11377805471420288},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.10967549681663513},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08966970443725586},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.0774168074131012}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.9467068910598755},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7506561279296875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6224358081817627},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.6160431504249573},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.49800539016723633},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.452651709318161},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.43674522638320923},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.43347668647766113},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4197171926498413},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.41898801922798157},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4076195955276489},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21920594573020935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.195857971906662},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12675413489341736},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.11377805471420288},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.10967549681663513},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08966970443725586},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0774168074131012},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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":1,"locations":[{"id":"doi:10.1109/indin.2012.6300899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin.2012.6300899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE 10th International Conference on Industrial Informatics","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":23,"referenced_works":["https://openalex.org/W65405895","https://openalex.org/W1494916908","https://openalex.org/W1565023596","https://openalex.org/W1984156164","https://openalex.org/W1988274707","https://openalex.org/W1990157740","https://openalex.org/W1997935428","https://openalex.org/W2017970073","https://openalex.org/W2033226680","https://openalex.org/W2041820530","https://openalex.org/W2048963734","https://openalex.org/W2052578957","https://openalex.org/W2054186704","https://openalex.org/W2061915875","https://openalex.org/W2071406810","https://openalex.org/W2114372896","https://openalex.org/W2116712719","https://openalex.org/W2141791321","https://openalex.org/W2152722082","https://openalex.org/W2156174987","https://openalex.org/W2160625746","https://openalex.org/W2169161640","https://openalex.org/W6602642158"],"related_works":["https://openalex.org/W2151114827","https://openalex.org/W2031589749","https://openalex.org/W4388297534","https://openalex.org/W2051439117","https://openalex.org/W1673883441","https://openalex.org/W4298109871","https://openalex.org/W2764257870","https://openalex.org/W2647069007","https://openalex.org/W2313188567","https://openalex.org/W2112770721"],"abstract_inverted_index":{"The":[0],"research":[1],"area":[2],"of":[3,20,42,75,84,97,114,135],"bio-inspired":[4],"control":[5,113,126],"methods":[6],"for":[7,111],"multi-legged":[8],"robots":[9,12],"and":[10],"reptile":[11],"has":[13],"made":[14],"significant":[15],"development":[16],"with":[17],"the":[18,40,62,69,73,82,95,123,133],"use":[19,54],"central":[21],"pattern":[22],"generators":[23],"(CPGs)":[24],"in":[25,132],"recent":[26],"years.":[27],"However,":[28],"there":[29],"are":[30],"still":[31],"many":[32],"problems":[33],"to":[34,37,44,47,57,68,93,121],"be":[35,78],"solved":[36],"learn":[38],"clearly":[39],"structure":[41],"CPG":[43,59,63,76,96,109,124],"adapt":[45],"it":[46],"different":[48],"applications.":[49],"In":[50],"this":[51],"article,":[52],"we":[53,91,105,118],"a":[55,101,107,129],"method":[56,110,127],"configure":[58],"which":[60],"makes":[61],"have":[64],"adaptive":[65,98],"frequency":[66,74,99],"according":[67],"existing":[70],"researches.":[71],"Thus,":[72],"can":[77],"changed":[79],"automatically":[80],"via":[81],"feedback":[83],"external":[85],"limit":[86],"cycle":[87],"driving":[88],"signals.":[89],"Also,":[90],"try":[92],"explain":[94],"from":[100],"dynamical":[102],"way.":[103],"Then":[104],"construct":[106],"new":[108],"locomotion":[112,125],"quadruped":[115,130],"robots.":[116],"Finally":[117],"make":[119],"simulations":[120],"verify":[122],"on":[128],"model":[131],"software":[134],"Adams.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
