{"id":"https://openalex.org/W2116299179","doi":"https://doi.org/10.1109/iscas.2003.1205068","title":"A CNN-based chip for robot locomotion control","display_name":"A CNN-based chip for robot locomotion control","publication_year":2003,"publication_date":"2003-11-21","ids":{"openalex":"https://openalex.org/W2116299179","doi":"https://doi.org/10.1109/iscas.2003.1205068","mag":"2116299179"},"language":"en","primary_location":{"id":"doi:10.1109/iscas.2003.1205068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscas.2003.1205068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2003 International Symposium on Circuits and Systems, 2003. ISCAS '03.","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/A5108471781","display_name":"P. Arena","orcid":null},"institutions":[{"id":"https://openalex.org/I39063666","display_name":"University of Catania","ror":"https://ror.org/03a64bh57","country_code":"IT","type":"education","lineage":["https://openalex.org/I39063666"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"P. Arena","raw_affiliation_strings":["Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit\u00e1 degli Studi di Catania, Catania, Italy","Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit\u00e1 degli Studi di Catania, Catania, Italy","institution_ids":["https://openalex.org/I39063666"]},{"raw_affiliation_string":"Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy","institution_ids":["https://openalex.org/I39063666"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055888610","display_name":"Salvatore Castorina","orcid":"https://orcid.org/0000-0001-5156-6141"},"institutions":[{"id":"https://openalex.org/I39063666","display_name":"University of Catania","ror":"https://ror.org/03a64bh57","country_code":"IT","type":"education","lineage":["https://openalex.org/I39063666"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"S. Castorina","raw_affiliation_strings":["Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit\u00e1 degli Studi di Catania, Catania, Italy","Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit\u00e1 degli Studi di Catania, Catania, Italy","institution_ids":["https://openalex.org/I39063666"]},{"raw_affiliation_string":"Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy","institution_ids":["https://openalex.org/I39063666"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043670176","display_name":"Luigi Fortuna","orcid":"https://orcid.org/0000-0003-2285-2979"},"institutions":[{"id":"https://openalex.org/I39063666","display_name":"University of Catania","ror":"https://ror.org/03a64bh57","country_code":"IT","type":"education","lineage":["https://openalex.org/I39063666"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"L. Fortuna","raw_affiliation_strings":["Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit\u00e1 degli Studi di Catania, Catania, Italy","Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit\u00e1 degli Studi di Catania, Catania, Italy","institution_ids":["https://openalex.org/I39063666"]},{"raw_affiliation_string":"Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy","institution_ids":["https://openalex.org/I39063666"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045809433","display_name":"Mattia Frasca","orcid":"https://orcid.org/0000-0002-4361-0576"},"institutions":[{"id":"https://openalex.org/I39063666","display_name":"University of Catania","ror":"https://ror.org/03a64bh57","country_code":"IT","type":"education","lineage":["https://openalex.org/I39063666"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Frasca","raw_affiliation_strings":["Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit\u00e1 degli Studi di Catania, Catania, Italy","Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit\u00e1 degli Studi di Catania, Catania, Italy","institution_ids":["https://openalex.org/I39063666"]},{"raw_affiliation_string":"Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy","institution_ids":["https://openalex.org/I39063666"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075380176","display_name":"Mich\u00e8le Ruta","orcid":"https://orcid.org/0000-0003-2125-327X"},"institutions":[{"id":"https://openalex.org/I39063666","display_name":"University of Catania","ror":"https://ror.org/03a64bh57","country_code":"IT","type":"education","lineage":["https://openalex.org/I39063666"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Ruta","raw_affiliation_strings":["Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit\u00e1 degli Studi di Catania, Catania, Italy","Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit\u00e1 degli Studi di Catania, Catania, Italy","institution_ids":["https://openalex.org/I39063666"]},{"raw_affiliation_string":"Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy","institution_ids":["https://openalex.org/I39063666"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5108471781"],"corresponding_institution_ids":["https://openalex.org/I39063666"],"apc_list":null,"apc_paid":null,"fwci":1.8887,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.88842037,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"III","last_page":"510"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T11513","display_name":"stochastic dynamics and bifurcation","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7170581221580505},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.7146642208099365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6055626273155212},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5753897428512573},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5581251978874207},{"id":"https://openalex.org/keywords/chip","display_name":"Chip","score":0.49026253819465637},{"id":"https://openalex.org/keywords/system-on-a-chip","display_name":"System on a chip","score":0.4700911045074463},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.42596152424812317},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41986700892448425},{"id":"https://openalex.org/keywords/very-large-scale-integration","display_name":"Very-large-scale integration","score":0.4193553328514099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37706881761550903},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.37447524070739746},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3742663860321045},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36114293336868286},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21494364738464355}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7170581221580505},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.7146642208099365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6055626273155212},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5753897428512573},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5581251978874207},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.49026253819465637},{"id":"https://openalex.org/C118021083","wikidata":"https://www.wikidata.org/wiki/Q610398","display_name":"System on a chip","level":2,"score":0.4700911045074463},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.42596152424812317},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41986700892448425},{"id":"https://openalex.org/C14580979","wikidata":"https://www.wikidata.org/wiki/Q876049","display_name":"Very-large-scale integration","level":2,"score":0.4193553328514099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37706881761550903},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.37447524070739746},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3742663860321045},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36114293336868286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21494364738464355},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/iscas.2003.1205068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscas.2003.1205068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2003 International Symposium on Circuits and Systems, 2003. ISCAS '03.","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":23,"referenced_works":["https://openalex.org/W365407947","https://openalex.org/W597024874","https://openalex.org/W1572464894","https://openalex.org/W1594101521","https://openalex.org/W1596537003","https://openalex.org/W1791885218","https://openalex.org/W1964956155","https://openalex.org/W1992519650","https://openalex.org/W1998284495","https://openalex.org/W1999052969","https://openalex.org/W2020528988","https://openalex.org/W2046715690","https://openalex.org/W2062152154","https://openalex.org/W2105087240","https://openalex.org/W2117062263","https://openalex.org/W2144928438","https://openalex.org/W2151162785","https://openalex.org/W2151405298","https://openalex.org/W2152722082","https://openalex.org/W2160121923","https://openalex.org/W3146026292","https://openalex.org/W4233580171","https://openalex.org/W4247961914"],"related_works":["https://openalex.org/W4390693411","https://openalex.org/W1516183183","https://openalex.org/W2144368969","https://openalex.org/W2214217142","https://openalex.org/W2066680284","https://openalex.org/W2729613941","https://openalex.org/W3215081502","https://openalex.org/W2125177287","https://openalex.org/W2043218551","https://openalex.org/W2988322103"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3,32,50,75,109],"VLSI":[4],"chip":[5,71],"for":[6],"real-time":[7],"locomotion":[8,63],"control":[9,16,83],"in":[10],"legged":[11],"robots":[12],"is":[13,17,29,40,46,72],"introduced.":[14],"The":[15,37,70],"based":[18],"on":[19,87],"the":[20,43,54,57,62,81,88,96,99,103,106],"biological":[21],"paradigm":[22],"of":[23,56,98,108],"Central":[24],"Pattern":[25],"Generator":[26],"(CPG)":[27],"and":[28,45,101],"implemented":[30],"by":[31,42],"Cellular":[33],"Neural":[34],"Network":[35],"(CNN).":[36],"gait":[38],"generation":[39],"accomplished":[41],"CNN":[44],"fully":[47,110],"analog,":[48],"while":[49],"digital":[51],"controller":[52],"modulates":[53],"behavior":[55],"CNN-based":[58],"CPG":[59],"to":[60,65,67,79,105],"allow":[61],"system":[64],"adapt":[66],"sensory":[68],"feedback.":[69],"designed":[73],"with":[74],"switched-capacitor":[76],"technique,":[77],"fundamental":[78],"address":[80],"speed":[82],"issue.":[84],"Experimental":[85],"results":[86,94],"first":[89],"prototype":[90],"are":[91],"illustrated.":[92],"These":[93],"confirm":[95],"suitability":[97],"approach":[100],"open":[102],"way":[104],"design":[107],"autonomous":[111],"bio-inspired":[112],"micro-robot.":[113]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}