{"id":"https://openalex.org/W4405785287","doi":"https://doi.org/10.1109/iros58592.2024.10802762","title":"Online Optimization of Central Pattern Generators for Quadruped Locomotion","display_name":"Online Optimization of Central Pattern Generators for Quadruped Locomotion","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785287","doi":"https://doi.org/10.1109/iros58592.2024.10802762"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/247054","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114601781","display_name":"Zewei Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Zewei Zhang","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011177211","display_name":"Guillaume Bellegarda","orcid":"https://orcid.org/0000-0001-5809-3340"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Guillaume Bellegarda","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078319507","display_name":"Milad Shafiee","orcid":"https://orcid.org/0000-0002-2171-5326"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Milad Shafiee","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke Ijspeert","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.7702,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.69169799,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"13547","last_page":"13554"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9872999787330627,"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":0.9872999787330627,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9833999872207642,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9757000207901001,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5286864638328552}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5286864638328552}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros58592.2024.10802762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:20.500.14299/247054","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/247054","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:20.500.14299/247054","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/247054","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W770013183","https://openalex.org/W1969232476","https://openalex.org/W2013156746","https://openalex.org/W2029517350","https://openalex.org/W2040657708","https://openalex.org/W2048963734","https://openalex.org/W2091568354","https://openalex.org/W2093298840","https://openalex.org/W2118106418","https://openalex.org/W2148430392","https://openalex.org/W2154526094","https://openalex.org/W2156174987","https://openalex.org/W2168661995","https://openalex.org/W2169712669","https://openalex.org/W2171073614","https://openalex.org/W2192203593","https://openalex.org/W2478562489","https://openalex.org/W2694031977","https://openalex.org/W2793732783","https://openalex.org/W2963647792","https://openalex.org/W3187133229","https://openalex.org/W3204806311","https://openalex.org/W4285730619","https://openalex.org/W4309323738","https://openalex.org/W4383097669","https://openalex.org/W4394603121","https://openalex.org/W4401414693","https://openalex.org/W4401414981","https://openalex.org/W4401416847","https://openalex.org/W6676817345","https://openalex.org/W6750814910","https://openalex.org/W6753146606","https://openalex.org/W6786190416","https://openalex.org/W6801189501","https://openalex.org/W6854124282"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Typical":[0],"legged":[1],"locomotion":[2,27,65],"controllers":[3],"are":[4,17,166],"designed":[5],"or":[6,74],"trained":[7],"offline.":[8],"This":[9],"is":[10,36],"in":[11,43,67,117,154,199],"contrast":[12],"to":[13,19,63,111,122,195,211,218],"many":[14],"animals,":[15],"which":[16],"able":[18],"locomote":[20],"at":[21],"birth,":[22],"and":[23,109,115,130,148,172,190,214],"rapidly":[24,107],"improve":[25],"their":[26],"skills":[28,66],"with":[29,80],"few":[30],"real-world":[31],"interactions.":[32],"Such":[33],"motor":[34],"control":[35,162],"possible":[37],"through":[38,98],"oscillatory":[39],"neural":[40],"networks":[41],"located":[42],"the":[44,57,91,95,118,136,140,146,155,179],"spinal":[45],"cord":[46],"of":[47,56,77,94,125,142,192,202,206],"vertebrates,":[48],"known":[49],"as":[50,158,160],"Central":[51],"Pattern":[52],"Generators":[53],"(CPGs).":[54],"Models":[55],"CPG":[58,96],"have":[59],"been":[60],"widely":[61],"used":[62],"generate":[64],"robotics,":[68],"but":[69],"can":[70,106],"require":[71],"extensive":[72],"hand-tuning":[73],"offline":[75],"optimization":[76,93,185],"inter-connected":[78],"parameters":[79,97],"genetic":[81],"algorithms.":[82],"In":[83,175],"this":[84],"paper,":[85],"we":[86,182],"present":[87],"a":[88,200],"framework":[89,105],"for":[90,120,169],"online":[92],"Bayesian":[99],"Optimization.":[100],"We":[101,138],"show":[102,183],"that":[103,150],"our":[104],"optimize":[108],"adapt":[110],"varying":[112,123,196,204],"velocity":[113],"commands":[114],"changes":[116],"terrain,":[119],"example":[121],"coefficients":[124,205],"friction,":[126,207],"terrain":[127],"slope":[128],"angles,":[129],"added":[131,208],"mass":[132],"payloads":[133,209],"placed":[134],"on":[135,145,178],"robot.":[137],"study":[139],"effects":[141],"sensory":[143],"feedback":[144,153],"CPG,":[147],"find":[149],"both":[151,167],"force":[152],"phase":[156],"equations,":[157],"well":[159],"posture":[161],"(Virtual":[163],"Model":[164],"Control)":[165],"beneficial":[168],"robot":[170],"stability":[171],"energy":[173],"efficiency.":[174],"hardware":[176],"experiments":[177],"Unitree":[180],"Go1,":[181],"rapid":[184],"(in":[186],"under":[187],"3":[188],"minutes)":[189],"adaptation":[191],"energy-efficient":[193],"gaits":[194],"target":[197],"velocities":[198],"variety":[201],"scenarios:":[203],"up":[210,217],"15":[212],"kg,":[213],"variable":[215],"slopes":[216],"10":[219],"degrees.":[220]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}