{"id":"https://openalex.org/W2095634498","doi":"https://doi.org/10.1109/iros.2007.4399498","title":"Self-adapting humanoid locomotion using a neural oscillator network","display_name":"Self-adapting humanoid locomotion using a neural oscillator network","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2095634498","doi":"https://doi.org/10.1109/iros.2007.4399498","mag":"2095634498"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dspace.jaist.ac.jp/dspace/bitstream/10119/7807/1/A10898.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052714447","display_name":"Woosung Yang","orcid":"https://orcid.org/0000-0002-0983-3012"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Woosung Yang","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","JAPAN ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, ISHIKAWA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"JAPAN ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, ISHIKAWA","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000452220","display_name":"Nak Young Chong","orcid":"https://orcid.org/0000-0001-5736-0769"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nak Young Chong","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","JAPAN ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, ISHIKAWA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"JAPAN ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, ISHIKAWA","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102798763","display_name":"ChangHwan Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"ChangHwan Kim","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113668846","display_name":"Bum Jae You","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bum Jae You","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"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":true,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"309","last_page":"316"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9887999892234802,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9753000140190125,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.770806610584259},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6950708627700806},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6382392048835754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6257394552230835},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5806386470794678},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5754072070121765},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.5584467053413391},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5382402539253235},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.46183252334594727},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44718703627586365},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4102746248245239},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32100731134414673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26204752922058105},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.16472852230072021},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12619233131408691},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11845546960830688},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10659945011138916},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.08143806457519531},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.07473310828208923},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.07166638970375061}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.770806610584259},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6950708627700806},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6382392048835754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6257394552230835},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5806386470794678},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5754072070121765},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.5584467053413391},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5382402539253235},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.46183252334594727},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44718703627586365},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4102746248245239},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32100731134414673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26204752922058105},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.16472852230072021},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12619233131408691},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11845546960830688},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10659945011138916},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.08143806457519531},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.07473310828208923},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.07166638970375061},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:irdb.nii.ac.jp:01333:0002021553","is_oa":true,"landing_page_url":"http://hdl.handle.net/10119/7807","pdf_url":"https://dspace.jaist.ac.jp/dspace/bitstream/10119/7807/1/A10898.pdf","source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007.","raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:01333:0002021553","is_oa":true,"landing_page_url":"http://hdl.handle.net/10119/7807","pdf_url":"https://dspace.jaist.ac.jp/dspace/bitstream/10119/7807/1/A10898.pdf","source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007.","raw_type":"conference paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2095634498.pdf","grobid_xml":"https://content.openalex.org/works/W2095634498.grobid-xml"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W1526473519","https://openalex.org/W1914373455","https://openalex.org/W1988274707","https://openalex.org/W2017970073","https://openalex.org/W2026036461","https://openalex.org/W2033226680","https://openalex.org/W2050426505","https://openalex.org/W2054063677","https://openalex.org/W2057952125","https://openalex.org/W2091086093","https://openalex.org/W2099821592","https://openalex.org/W2109819460"],"related_works":["https://openalex.org/W4390693411","https://openalex.org/W2135090907","https://openalex.org/W1516183183","https://openalex.org/W2911477544","https://openalex.org/W2593698653","https://openalex.org/W2088984699","https://openalex.org/W2080439181","https://openalex.org/W2054715726","https://openalex.org/W2517959777","https://openalex.org/W2100531771"],"abstract_inverted_index":{"Stable":[0],"and":[1,128,148],"robust":[2],"dynamic":[3],"locomotion":[4,25,37,145],"has":[5,133],"been":[6],"gaining":[7],"increasing":[8],"attention":[9],"in":[10,30,44,80,106],"humanoid":[11,144],"research.":[12],"This":[13],"paper":[14],"presents":[15],"a":[16,49],"neural":[17,68,93],"oscillator":[18,69,94],"network":[19,70],"for":[20],"the":[21,31,34,45,53,58,64,67,75,78,83,92,101,104,109,112,118,121],"generation":[22],"of":[23,33,39,52,57,66,77,103,111,120],"periodic":[24,50,59],"patterns":[26],"adapting":[27],"to":[28,89,116,143],"changes":[29],"slope":[32],"terrain.":[35,86,150],"Specifically,":[36],"trajectories":[38],"individual":[40],"limbs":[41],"are":[42],"predetermined":[43],"trajectory":[46,102,110],"generator":[47],"as":[48],"function":[51,60],"gait.":[54],"The":[55],"phase":[56,107],"is":[61],"coordinated":[62],"with":[63,82,108],"output":[65],"incorporating":[71],"sensory":[72],"signals":[73],"detecting":[74],"state":[76],"foot":[79],"contact":[81],"unknown":[84],"changing":[85],"For":[87],"stability":[88],"be":[90,141],"maintained,":[91],"plays":[95],"an":[96],"important":[97],"role":[98],"by":[99],"controlling":[100],"COM":[105],"ZMP.":[113],"In":[114],"order":[115],"verify":[117],"validity":[119],"proposed":[122],"scheme,":[123],"we":[124],"carry":[125],"out":[126],"simulations":[127],"experiments.":[129],"A":[130],"preliminary":[131],"investigation":[132],"yielded":[134],"promising":[135],"results,":[136],"indicating":[137],"that":[138],"it":[139],"may":[140],"applied":[142],"through":[146],"uneven":[147],"uncertain":[149]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
