{"id":"https://openalex.org/W3003163924","doi":"https://doi.org/10.1109/iros40897.2019.8968128","title":"Combining spiking motor primitives with a behaviour-based architecture to model locomotion for six-legged robots","display_name":"Combining spiking motor primitives with a behaviour-based architecture to model locomotion for six-legged robots","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003163924","doi":"https://doi.org/10.1109/iros40897.2019.8968128","mag":"3003163924"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968128","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5037217003","display_name":"J. Camilo Vasquez Tieck","orcid":"https://orcid.org/0000-0003-3449-1373"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Camilo Vasquez Tieck","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056542662","display_name":"Jacqueline Rutschke","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jacqueline Rutschke","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028490309","display_name":"Jacques Kaiser","orcid":"https://orcid.org/0000-0001-7487-6185"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jacques Kaiser","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038691076","display_name":"Martin Schulze","orcid":"https://orcid.org/0000-0003-2899-1558"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Schulze","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053896000","display_name":"Timoth\u00e9e Buettner","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Timothee Buettner","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060593192","display_name":"Daniel Reichard","orcid":"https://orcid.org/0000-0003-0355-0916"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Reichard","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arne Roennau","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R\u00fcdiger Dillmann","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.997,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.74758955,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4161","last_page":"4168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9945999979972839,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.7095109820365906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7062341570854187},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6278616189956665},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6021310091018677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5992160439491272},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5897828340530396},{"id":"https://openalex.org/keywords/motor-control","display_name":"Motor control","score":0.4772343933582306},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4768575131893158},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.46560531854629517},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3523297607898712},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3325245976448059},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32830941677093506}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7095109820365906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7062341570854187},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6278616189956665},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6021310091018677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5992160439491272},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5897828340530396},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.4772343933582306},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4768575131893158},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.46560531854629517},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3523297607898712},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3325245976448059},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32830941677093506},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968128","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W85561255","https://openalex.org/W101771737","https://openalex.org/W151798663","https://openalex.org/W1484809412","https://openalex.org/W1558521349","https://openalex.org/W1999052969","https://openalex.org/W2006370340","https://openalex.org/W2044803677","https://openalex.org/W2052391272","https://openalex.org/W2065125569","https://openalex.org/W2089745666","https://openalex.org/W2094697451","https://openalex.org/W2136719407","https://openalex.org/W2156174987","https://openalex.org/W2168941872","https://openalex.org/W2331728699","https://openalex.org/W2333716096","https://openalex.org/W2581251857","https://openalex.org/W2583034590","https://openalex.org/W2765138650","https://openalex.org/W2896919074","https://openalex.org/W2897343359","https://openalex.org/W2908057155","https://openalex.org/W2913168413","https://openalex.org/W3025773901","https://openalex.org/W3100427071","https://openalex.org/W3117621741","https://openalex.org/W4231327205","https://openalex.org/W4237200682","https://openalex.org/W4285719527","https://openalex.org/W6603469021","https://openalex.org/W6663448343","https://openalex.org/W6684862465","https://openalex.org/W6702749801","https://openalex.org/W6733095152","https://openalex.org/W6759089702","https://openalex.org/W6777257555","https://openalex.org/W6787755348"],"related_works":["https://openalex.org/W2085374841","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2329529557","https://openalex.org/W2381297671","https://openalex.org/W2001900524","https://openalex.org/W1531114845","https://openalex.org/W2917916498"],"abstract_inverted_index":{"Bio-inspired":[0],"robots":[1],"take":[2,37],"advantage":[3,38],"of":[4,6,8,39,44,63,147,229,236],"millions":[5],"years":[7],"evolution":[9],"to":[10,19,36,67,88,104,119,142,155,160,170,199,225],"provide":[11],"interesting":[12],"and":[13,21,91,97,138,158,174,190,231],"flexible":[14,223],"solutions":[15],"for":[16,52,78,109,135,239],"issues":[17],"related":[18],"motion":[20,79,93],"perception.":[22],"Often,":[23],"they":[24],"have":[25],"challenging":[26],"kinematics":[27],"classical":[28,69],"robotics":[29,240],"control":[30,71,143,182,185],"mechanisms":[31],"are":[32,114,151,168],"not":[33],"always":[34],"able":[35],"them.":[40],"A":[41],"concrete":[42],"example":[43],"this":[45,64],"is":[46,66,222],"LAURON":[47],"V,":[48],"a":[49,83,101,110,180,204],"six-legged":[50],"robot":[51],"space":[53],"exploration":[54],"inspired":[55],"by":[56],"the":[57,121,136,144,165,192,208,234,237],"stick":[58],"insects.":[59],"The":[60,212],"main":[61,116],"goals":[62],"work":[65],"combine":[68,98],"behaviour-based":[70,102],"with":[72,76,100,131,219],"motor":[73,95,128,145,220],"primitives":[74,129,146,221],"implemented":[75,130],"SNN":[77],"representation.":[80],"We":[81,194],"extend":[82],"previously":[84],"presented":[85],"bio-inspired":[86],"approach":[87,202,218],"represent":[89,226],"hand":[90],"arm":[92],"using":[94,207],"primitives,":[96],"it":[99],"architecture":[103],"model":[105,120],"different":[106,176,197,227],"locomotion":[107],"behaviours":[108,153],"multi-legged":[111],"robot.":[112],"There":[113],"four":[115],"components.":[117],"First,":[118],"individual":[122],"leg":[123,149],"motions":[124],"we":[125],"use":[126],"two":[127],"spiking":[132],"neural":[133],"networks":[134],"swing":[137],"stance":[139],"phases.":[140],"Second,":[141],"each":[148,156,161],"there":[150],"local":[152],"corresponding":[154,159],"phase,":[157],"activation":[162,166],"pattern.":[163],"Third,":[164],"patterns":[167],"used":[169],"facilitate":[171],"multi-leg":[172],"coordination":[173],"generate":[175],"walking":[177],"behaviours.":[178],"Fourth,":[179],"high-level":[181],"interface":[183],"integrates":[184],"signals":[186],"from":[187],"other":[188],"sources":[189],"activates":[191],"patterns.":[193],"conducted":[195],"five":[196],"experiments":[198],"evaluate":[200],"our":[201,216],"in":[203],"simulated":[205],"environment":[206],"Neurorobotics":[209],"Platform":[210],"(NRP).":[211],"results":[213],"show":[214],"that":[215],"modelling":[217],"enough":[224],"types":[228],"motions,":[230],"also":[232],"highlight":[233],"value":[235],"NRP":[238],"development.":[241]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
