{"id":"https://openalex.org/W2567667591","doi":"https://doi.org/10.1109/iros.2016.7759654","title":"B\u00e9zier curve model for efficient bio-inspired locomotion of low cost four legged robot","display_name":"B\u00e9zier curve model for efficient bio-inspired locomotion of low cost four legged robot","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2567667591","doi":"https://doi.org/10.1109/iros.2016.7759654","mag":"2567667591"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5005008013","display_name":"Azhar Aulia Saputra","orcid":"https://orcid.org/0000-0001-9027-8935"},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Azhar Aulia Saputra","raw_affiliation_strings":["Graduate School of System Design, Tokyo Metropolitan University, 6???6 Asahigaoka, Hino, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of System Design, Tokyo Metropolitan University, 6???6 Asahigaoka, Hino, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071908181","display_name":"Noel Nuo Wi Tay","orcid":"https://orcid.org/0000-0002-3236-922X"},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Noel Nuo Wi Tay","raw_affiliation_strings":["Graduate School of System Design, Tokyo Metropolitan University, Hachioji, Tokyo, JP"],"affiliations":[{"raw_affiliation_string":"Graduate School of System Design, Tokyo Metropolitan University, Hachioji, Tokyo, JP","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087750601","display_name":"Yuichiro Toda","orcid":"https://orcid.org/0000-0003-4170-2300"},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichiro Toda","raw_affiliation_strings":["Graduate School of System Design, Tokyo Metropolitan University, 6???6 Asahigaoka, Hino, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of System Design, Tokyo Metropolitan University, 6???6 Asahigaoka, Hino, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046625768","display_name":"J\u00e1nos Botzheim","orcid":"https://orcid.org/0000-0002-7838-6148"},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Janos Botzheim","raw_affiliation_strings":["Graduate School of System Design, Tokyo Metropolitan University, 6???6 Asahigaoka, Hino, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of System Design, Tokyo Metropolitan University, 6???6 Asahigaoka, Hino, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074076109","display_name":"Naoyuki Kubota","orcid":"https://orcid.org/0000-0001-8829-037X"},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoyuki Kubota","raw_affiliation_strings":["Graduate School of System Design, Tokyo Metropolitan University, 6???6 Asahigaoka, Hino, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of System Design, Tokyo Metropolitan University, 6???6 Asahigaoka, Hino, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5005008013"],"corresponding_institution_ids":["https://openalex.org/I69740276"],"apc_list":null,"apc_paid":null,"fwci":1.5385,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.82902871,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"35","issue":null,"first_page":"4443","last_page":"4448"},"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":0.9684000015258789,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9648000001907349,"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/robot","display_name":"Robot","score":0.7091955542564392},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6303274035453796},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6187205910682678},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.6088636517524719},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.50252366065979},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49052995443344116},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4875783324241638},{"id":"https://openalex.org/keywords/biological-neuron-model","display_name":"Biological neuron model","score":0.485248327255249},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.46120303869247437},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.45501959323883057},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4103371798992157},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3525330424308777},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35056793689727783},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34405165910720825},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.285200297832489},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18146130442619324}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7091955542564392},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6303274035453796},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6187205910682678},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.6088636517524719},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.50252366065979},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49052995443344116},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4875783324241638},{"id":"https://openalex.org/C186565885","wikidata":"https://www.wikidata.org/wiki/Q1651163","display_name":"Biological neuron model","level":3,"score":0.485248327255249},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.46120303869247437},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.45501959323883057},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4103371798992157},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3525330424308777},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35056793689727783},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34405165910720825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.285200297832489},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18146130442619324},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W146695423","https://openalex.org/W1547521793","https://openalex.org/W1914373455","https://openalex.org/W1978041496","https://openalex.org/W2033226680","https://openalex.org/W2051321581","https://openalex.org/W2052186030","https://openalex.org/W2057952125","https://openalex.org/W2114474661","https://openalex.org/W2121219895","https://openalex.org/W2130310769","https://openalex.org/W2155970105","https://openalex.org/W2156174987","https://openalex.org/W2185472371","https://openalex.org/W2283492841","https://openalex.org/W4250503570"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W3180160681","https://openalex.org/W1567230752","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W1600238263","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W3104537609"],"abstract_inverted_index":{"This":[0,154],"paper":[1],"presents":[2],"B\u00e9zier":[3,46],"curve":[4,47],"based":[5,48],"passive":[6,51],"neural":[7,52,71],"control":[8,53,72],"applied":[9,37],"in":[10,13,30,43,75,82,97,101,144,148,169],"bio-inspired":[11,44],"locomotion":[12,84],"order":[14,76,135],"to":[15,77,136,165],"decrease":[16,157],"the":[17,40,60,79,94,115,138,142,158,167],"computational":[18,159],"cost":[19,160],"implemented":[20,74,141],"for":[21,38,58],"4":[22,116,122,151],"legged":[23,117,152],"animal":[24,171],"robot":[25,118,174],"which":[26,125],"has":[27],"3":[28,87],"joints":[29,88],"each":[31],"leg.":[32],"Neural":[33],"oscillator":[34],"model":[35,143,155,168],"is":[36,73,108,119,163],"generating":[39],"walking":[41,98],"pattern":[42,99],"locomotion.":[45],"optimization":[49],"represents":[50],"supported":[54],"by":[55,85,110,121],"evolutionary":[56],"algorithm":[57],"representing":[59],"relationship":[61],"equation":[62],"between":[63],"neuron":[64,80],"signal":[65,91],"and":[66,100,131,147],"reference":[67],"joint":[68],"signal.":[69],"Passive":[70],"reduce":[78],"complexity":[81],"neuro-based":[83],"controlling":[86],"with":[89,129,175],"one":[90,106,111],"without":[92],"decreasing":[93],"performance":[95],"both":[96],"its":[102],"stability":[103],"level,":[104],"whereas":[105],"leg":[107],"represented":[109],"motor":[112,123],"neuron.":[113],"Therefore,":[114],"controlled":[120],"neurons":[124],"have":[126],"feedback":[127],"connection":[128],"ground":[130],"inertial":[132],"sensor.":[133],"In":[134],"prove":[137],"effectiveness,":[139],"we":[140],"computer":[145],"simulation":[146],"a":[149],"small":[150],"robot.":[153],"can":[156],"so":[161],"it":[162],"possible":[164],"apply":[166],"either":[170],"or":[172],"humanoid":[173],"low":[176],"frequency":[177],"processor.":[178]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
