{"id":"https://openalex.org/W1979930071","doi":"https://doi.org/10.1109/iros.2010.5651377","title":"CPG based self-adapting multi-DOF robotic arm control","display_name":"CPG based self-adapting multi-DOF robotic arm control","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1979930071","doi":"https://doi.org/10.1109/iros.2010.5651377","mag":"1979930071"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5651377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/10119/9552/1/16410-1.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/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"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":"Woosung Yang","raw_affiliation_strings":["Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"]},{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062995411","display_name":"Ji\u2010Hun Bae","orcid":"https://orcid.org/0000-0002-7859-3091"},"institutions":[{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"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":"Ji-Hun Bae","raw_affiliation_strings":["Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"]},{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110035890","display_name":"Yonghwan Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"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":"Yonghwan Oh","raw_affiliation_strings":["Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"]},{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"]}]},{"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","School of Information Science, Japan Advanced Institute of Science and Technology,#R##N#Ishikawa, Japan"],"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":"School of Information Science, Japan Advanced Institute of Science and Technology,#R##N#Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102148147","display_name":"Bum-Jae You","orcid":null},"institutions":[{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"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"]},{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bum-Jae You","raw_affiliation_strings":["Korea Institute of Industrial and Technology, Ansan, South Korea","Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Industrial and Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014100305","display_name":"Sang\u2013Rok Oh","orcid":"https://orcid.org/0000-0002-1102-031X"},"institutions":[{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"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":"Sang-Rok Oh","raw_affiliation_strings":["Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"]},{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I4210140519","https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":36,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"4236","last_page":"4243"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/kinematics","display_name":"Kinematics","score":0.7866432666778564},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6336865425109863},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6190406680107117},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.611178457736969},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5777515172958374},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4752523601055145},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47189033031463623},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.4644254446029663},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46361595392227173},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4628441035747528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46147677302360535},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.4346492290496826},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41788405179977417},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4130290150642395},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22725439071655273},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2119760811328888},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11744838953018188},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08119592070579529}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7866432666778564},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6336865425109863},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6190406680107117},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.611178457736969},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5777515172958374},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4752523601055145},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47189033031463623},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.4644254446029663},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46361595392227173},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4628441035747528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46147677302360535},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.4346492290496826},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41788405179977417},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4130290150642395},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22725439071655273},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2119760811328888},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11744838953018188},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08119592070579529},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5651377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:irdb.nii.ac.jp:01333:0002023072","is_oa":true,"landing_page_url":"http://hdl.handle.net/10119/9552","pdf_url":"https://dspace.jaist.ac.jp/dspace/bitstream/10119/9552/1/16410-1.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":"The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:01333:0002023072","is_oa":true,"landing_page_url":"http://hdl.handle.net/10119/9552","pdf_url":"https://dspace.jaist.ac.jp/dspace/bitstream/10119/9552/1/16410-1.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":"The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"conference paper"},"sustainable_development_goals":[{"score":0.5,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1979930071.pdf","grobid_xml":"https://content.openalex.org/works/W1979930071.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1526473519","https://openalex.org/W1735741754","https://openalex.org/W1914373455","https://openalex.org/W1988274707","https://openalex.org/W1991541857","https://openalex.org/W2015066907","https://openalex.org/W2028415474","https://openalex.org/W2050426505","https://openalex.org/W2054063677","https://openalex.org/W2057952125","https://openalex.org/W2074473812","https://openalex.org/W2091086093","https://openalex.org/W2095634498","https://openalex.org/W2097152358","https://openalex.org/W2099821592","https://openalex.org/W2125177287","https://openalex.org/W2132142586","https://openalex.org/W2135100989","https://openalex.org/W2135849582","https://openalex.org/W6654162509","https://openalex.org/W6680149654"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2166760487","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W339676884","https://openalex.org/W2607470227","https://openalex.org/W2351331567"],"abstract_inverted_index":{"Recently,":[0],"biologically":[1,73],"inspired":[2,74,133],"control":[3,77,113],"approaches":[4],"for":[5],"robotic":[6,68,143,163,186],"systems":[7],"that":[8,26,158,159,188],"involve":[9],"the":[10,24,95,139,170],"use":[11],"of":[12,94,101,126,141,199],"central":[13],"pattern":[14],"generators":[15],"(CPGs)":[16],"have":[17],"been":[18],"attracting":[19],"considerable":[20],"attention":[21],"owing":[22],"to":[23,65,147,165,173],"fact":[25],"most":[27,100],"humans":[28],"or":[29,49],"animals":[30],"move":[31],"and":[32,92,121,129,150,191],"walk":[33],"easily":[34],"without":[35,52],"explicitly":[36],"controlling":[37],"their":[38,54],"movements.":[39],"Furthermore,":[40],"they":[41],"exhibit":[42],"natural":[43],"adaptive":[44,167],"motions":[45,134,157],"against":[46],"unexpected":[47],"disturbances":[48],"environmental":[50],"changes":[51,168],"considering":[53],"kinematic":[55,197],"configurations.":[56],"Inspired":[57],"by":[58,110],"such":[59,88],"novel":[60],"phenomena,":[61],"this":[62,82],"paper":[63],"endeavors":[64],"achieve":[66],"self-adapting":[67],"arm":[69,144,164,187],"motion.":[70,176],"For":[71],"this,":[72],"CPG":[75],"based":[76,114],"is":[78,180],"proposed.":[79],"In":[80,177],"particular,":[81],"approach":[83],"deals":[84],"with":[85,182],"crucial":[86],"problems":[87,106],"as":[89],"motion":[90,172,192],"generation":[91],"repeatability":[93,193],"joints":[96,140],"emerged":[97],"remarkably":[98],"in":[99],"redundant":[102],"DOF":[103],"systems.":[104],"These":[105],"can":[107,135],"be":[108,136],"overcome":[109],"employing":[111],"a":[112,142,161,174,184],"on":[115],"artificial":[116],"neural":[117,148],"oscillators,":[118],"virtual":[119,122,151],"force":[120],"muscle":[123],"damping":[124],"instead":[125],"trajectories":[127],"planning":[128],"inverse":[130],"kinematics.":[131],"Biologically":[132],"attained":[137],"if":[138],"are":[145,194],"coupled":[146],"oscillators":[149],"muscles.":[152],"We":[153],"experimentally":[154],"demonstrate":[155],"self-adaptation":[156],"enables":[160],"7-DOF":[162],"make":[166],"from":[169],"given":[171],"compliant":[175],"addition,":[178],"it":[179],"verified":[181],"real":[183,185],"human-like":[189],"movements":[190],"satisfied":[195],"under":[196],"redundancy":[198],"joints.":[200]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}