{"id":"https://openalex.org/W2099294911","doi":"https://doi.org/10.1109/robio.2010.5723296","title":"Gait generation and transitions of quadruped robot based on Wilson-Cowan weakly neural networks","display_name":"Gait generation and transitions of quadruped robot based on Wilson-Cowan weakly neural networks","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2099294911","doi":"https://doi.org/10.1109/robio.2010.5723296","mag":"2099294911"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723296","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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/A5100744772","display_name":"Bin Li","orcid":"https://orcid.org/0000-0002-4028-0938"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bin Li","raw_affiliation_strings":["Mathematical and Physical Sciences, Shandong Institute of Light Industry, China","School of Control Science and Engineering, Shandong University, China"],"affiliations":[{"raw_affiliation_string":"Mathematical and Physical Sciences, Shandong Institute of Light Industry, China","institution_ids":[]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025820722","display_name":"Xuewen Rong","orcid":"https://orcid.org/0000-0003-3283-5347"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuewen Rong","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100744772"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":1.2668,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.80401072,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"19","last_page":"24"},"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9886000156402588,"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"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9786999821662903,"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/central-pattern-generator","display_name":"Central pattern generator","score":0.939124584197998},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6039119958877563},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.5926831960678101},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5527818202972412},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.5443633794784546},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5288501977920532},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5176637768745422},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48001593351364136},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.461095929145813},{"id":"https://openalex.org/keywords/amplitude","display_name":"Amplitude","score":0.4328610897064209},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4155791997909546},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.29238492250442505},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24774014949798584},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16970720887184143},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.14422708749771118},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.06833553314208984}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.939124584197998},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6039119958877563},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.5926831960678101},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5527818202972412},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.5443633794784546},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5288501977920532},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5176637768745422},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48001593351364136},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.461095929145813},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.4328610897064209},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4155791997909546},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.29238492250442505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24774014949798584},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16970720887184143},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.14422708749771118},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.06833553314208984},{"id":"https://openalex.org/C150194340","wikidata":"https://www.wikidata.org/wiki/Q26972","display_name":"Gene expression","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C190727270","wikidata":"https://www.wikidata.org/wiki/Q874745","display_name":"DNA methylation","level":4,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723296","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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":15,"referenced_works":["https://openalex.org/W1993207885","https://openalex.org/W2016354087","https://openalex.org/W2079404210","https://openalex.org/W2100531771","https://openalex.org/W2119325556","https://openalex.org/W2126097529","https://openalex.org/W2144144709","https://openalex.org/W2148144308","https://openalex.org/W2149525340","https://openalex.org/W2155970105","https://openalex.org/W2167791180","https://openalex.org/W2379367241","https://openalex.org/W2574149169","https://openalex.org/W6682135474","https://openalex.org/W6982437008"],"related_works":["https://openalex.org/W2151114827","https://openalex.org/W4390693411","https://openalex.org/W2135090907","https://openalex.org/W1516183183","https://openalex.org/W2764257870","https://openalex.org/W2647069007","https://openalex.org/W2088984699","https://openalex.org/W2080439181","https://openalex.org/W2054715726","https://openalex.org/W2031589749"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,29],"new":[4],"Central":[5],"Pattern":[6],"Generator":[7],"(CPG)":[8],"controller":[9,18,100],"for":[10,84,124],"quadruped":[11,104],"robot":[12],"rhythmic":[13,36,68,109],"locomotion":[14,39,69],"control.":[15],"Our":[16],"CPG":[17,91,99,118],"based":[19],"on":[20],"the":[21,49,60,74,86,90,97,117],"Wilson-Cowan":[22,55],"neural":[23,31,56,64],"oscillator,":[24],"which":[25],"is":[26,51,82],"known":[27],"as":[28],"weakly":[30],"network":[32],"that":[33,96],"generates":[34],"fundamental":[35],"movements":[37],"in":[38],"of":[40,45,63,89,116],"animals.":[41],"The":[42,79,112],"harmony":[43],"motion":[44],"one":[46],"leg":[47],"from":[48],"others":[50],"controlled":[52],"with":[53],"four":[54],"oscillators.":[57],"By":[58],"replacing":[59],"gait":[61],"matrix":[62],"oscillators,":[65],"some":[66],"different":[67,103],"models":[70,75],"and":[71,106,114],"switching":[72],"between":[73],"can":[76,101],"be":[77],"generated.":[78],"parameter":[80],"normalization":[81],"introduced":[83],"controlling":[85],"output":[87],"amplitude":[88,115],"easily.":[92],"Simulation":[93],"results":[94],"show":[95],"presented":[98],"generate":[102],"gaits":[105],"change":[107],"its":[108],"patterns":[110],"smoothly.":[111],"period":[113],"model":[119],"are":[120],"easy":[121],"to":[122],"control":[123],"generating":[125],"various":[126],"gaits.":[127]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
