{"id":"https://openalex.org/W2137112108","doi":"https://doi.org/10.1109/robio.2009.5420521","title":"Central Pattern Generators based adaptive control for a quadruped robot","display_name":"Central Pattern Generators based adaptive control for a quadruped robot","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2137112108","doi":"https://doi.org/10.1109/robio.2009.5420521","mag":"2137112108"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420521","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100341846","display_name":"Xun Li","orcid":"https://orcid.org/0000-0002-1267-9263"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xun Li","raw_affiliation_strings":["Integrate Information System Center of Institute of Automation, Chinese Academy and Sciences, China","Integrate Information System Center of Institute of Automation, Chinese Academy of Science"],"affiliations":[{"raw_affiliation_string":"Integrate Information System Center of Institute of Automation, Chinese Academy and Sciences, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Integrate Information System Center of Institute of Automation, Chinese Academy of Science","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064482766","display_name":"W. Wang","orcid":"https://orcid.org/0000-0001-9354-6931"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Integrate Information System Center of Institute of Automation, Chinese Academy and Sciences, China","Integrate Information System Center of Institute of Automation, Chinese Academy of Science"],"affiliations":[{"raw_affiliation_string":"Integrate Information System Center of Institute of Automation, Chinese Academy and Sciences, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Integrate Information System Center of Institute of Automation, Chinese Academy of Science","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100744772","display_name":"Bin Li","orcid":"https://orcid.org/0000-0002-4028-0938"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["Integrate Information System Center of Institute of Automation, Chinese Academy and Sciences, China","Integrate Information System Center of Institute of Automation, Chinese Academy of Science"],"affiliations":[{"raw_affiliation_string":"Integrate Information System Center of Institute of Automation, Chinese Academy and Sciences, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Integrate Information System Center of Institute of Automation, Chinese Academy of Science","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114526328","display_name":"Yanjun Wang","orcid":"https://orcid.org/0009-0007-4706-8853"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Wang","raw_affiliation_strings":["Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071675435","display_name":"Yiping Yang","orcid":"https://orcid.org/0000-0002-1291-7460"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiping Yang","raw_affiliation_strings":["Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100341846"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":0.2223,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.61492583,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2068","last_page":"2072"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9941999912261963,"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"}},{"id":"https://openalex.org/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.8600515127182007},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.723676323890686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6443971395492554},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6317429542541504},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6078359484672546},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5803301930427551},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5739685297012329},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.48781588673591614},{"id":"https://openalex.org/keywords/horizontal-plane","display_name":"Horizontal plane","score":0.4760406017303467},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40310969948768616},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3497624397277832},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24570626020431519},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2058050036430359},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07953685522079468}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8600515127182007},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.723676323890686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6443971395492554},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6317429542541504},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6078359484672546},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5803301930427551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5739685297012329},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.48781588673591614},{"id":"https://openalex.org/C37222873","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Horizontal plane","level":2,"score":0.4760406017303467},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40310969948768616},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3497624397277832},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24570626020431519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2058050036430359},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07953685522079468},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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":1,"locations":[{"id":"doi:10.1109/robio.2009.5420521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420521","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1597655206","https://openalex.org/W1824798508","https://openalex.org/W2033226680","https://openalex.org/W2040644102","https://openalex.org/W2054186704","https://openalex.org/W2078794407","https://openalex.org/W2079325629","https://openalex.org/W2120711799","https://openalex.org/W2141791321","https://openalex.org/W2167320745","https://openalex.org/W6677485565"],"related_works":["https://openalex.org/W1990068838","https://openalex.org/W4399671601","https://openalex.org/W2113517406","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W2060577328","https://openalex.org/W4360930834","https://openalex.org/W2796232872","https://openalex.org/W2080096173","https://openalex.org/W2082998768"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,87],"adaptive":[4,43],"control":[5,44],"system":[6],"of":[7,13,16,103],"central":[8],"pattern":[9],"generators":[10],"(CPG)":[11],"made":[12],"a":[14,41,50],"network":[15],"mutually":[17],"coupled":[18],"Van":[19],"Del":[20],"Pol":[21],"nonlinear":[22],"oscillators.":[23],"The":[24,101],"CPG":[25],"based":[26],"controller":[27],"is":[28,46,107],"used":[29],"to":[30,48,67,90,94],"generate":[31],"stable":[32],"rhythmical":[33],"locomotion":[34],"trajectories.":[35],"With":[36],"the":[37,64,92,104],"sensorial":[38],"information":[39],"feedback,":[40],"novel":[42],"strategy":[45],"implemented":[47],"help":[49],"quadruped":[51],"robot":[52,93],"with":[53,109],"only":[54],"two":[55],"rotary":[56],"Degrees":[57],"Of":[58],"Freedom":[59],"(DOF)s":[60],"per":[61],"leg":[62],"in":[63],"sagittal":[65],"plane":[66],"adapt":[68],"various":[69],"terrain":[70],"environments":[71],"and":[72,82,98],"response":[73],"external":[74],"instructions":[75],"such":[76],"as":[77],"up-slope,":[78],"down-slope,":[79],"direction":[80],"turning":[81],"preserving.":[83],"Moreover,":[84],"it":[85],"provides":[86],"easy":[88],"mean":[89],"manipulate":[91],"move":[95],"forward,":[96],"backward":[97],"hold":[99],"steps.":[100],"effectiveness":[102],"proposed":[105],"approach":[106],"examined":[108],"computer":[110],"simulations.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}