{"id":"https://openalex.org/W2288624031","doi":"https://doi.org/10.1109/robio.2015.7419057","title":"CPG control model of snake-like robot parameters of optimization based on GA","display_name":"CPG control model of snake-like robot parameters of optimization based on GA","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2288624031","doi":"https://doi.org/10.1109/robio.2015.7419057","mag":"2288624031"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7419057","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419057","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5009479076","display_name":"Pei Wen","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Pei Wen","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui Province, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103160630","display_name":"Xu Linsen","orcid":"https://orcid.org/0000-0002-2529-5250"},"institutions":[{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Linsen","raw_affiliation_strings":["Department of Precision Manufacturing, Hefei Institute of Physical Science, Changzhou, Jiangsu Province, China"],"affiliations":[{"raw_affiliation_string":"Department of Precision Manufacturing, Hefei Institute of Physical Science, Changzhou, Jiangsu Province, China","institution_ids":["https://openalex.org/I2802624667"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Feng Baolin","orcid":null},"institutions":[{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Baolin","raw_affiliation_strings":["Department of Precision Manufacturing, Hefei Institute of Physical Science, Changzhou, Jiangsu Province, China"],"affiliations":[{"raw_affiliation_string":"Department of Precision Manufacturing, Hefei Institute of Physical Science, Changzhou, Jiangsu Province, China","institution_ids":["https://openalex.org/I2802624667"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101426706","display_name":"Wang Zhong","orcid":"https://orcid.org/0000-0002-4388-1755"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Zhong","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui Province, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009479076"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.13383475,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"15","issue":null,"first_page":"1944","last_page":"1949"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.989799976348877,"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":0.789506733417511},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7537429332733154},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6182682514190674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5826930403709412},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.5676063895225525},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5260593295097351},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.45693439245224},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.4548240005970001},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4289560317993164},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38741713762283325},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38096946477890015},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37317222356796265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3710404932498932},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37073519825935364},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3507368862628937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3084162175655365},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.1625104546546936},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.1078292727470398},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08971351385116577},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.07871979475021362}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.789506733417511},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7537429332733154},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6182682514190674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5826930403709412},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.5676063895225525},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5260593295097351},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.45693439245224},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.4548240005970001},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4289560317993164},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38741713762283325},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38096946477890015},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37317222356796265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3710404932498932},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37073519825935364},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3507368862628937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3084162175655365},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.1625104546546936},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.1078292727470398},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08971351385116577},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.07871979475021362},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"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/C150194340","wikidata":"https://www.wikidata.org/wiki/Q26972","display_name":"Gene expression","level":3,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7419057","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419057","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1939016165","https://openalex.org/W1994587340","https://openalex.org/W2013661116","https://openalex.org/W2050426505","https://openalex.org/W2057952125","https://openalex.org/W2117832310","https://openalex.org/W2117949838","https://openalex.org/W4237428422","https://openalex.org/W4248901411","https://openalex.org/W6649138239"],"related_works":["https://openalex.org/W2151114827","https://openalex.org/W2135090907","https://openalex.org/W2764257870","https://openalex.org/W1994587340","https://openalex.org/W1981473936","https://openalex.org/W2214217142","https://openalex.org/W2144368969","https://openalex.org/W2906866672","https://openalex.org/W2066680284","https://openalex.org/W3215081502"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,46],"present":[4],"a":[5,15],"biomimetic":[6],"architecture":[7],"to":[8,50],"solve":[9],"the":[10,25,39,48,52,58,80,87,92,96],"difficulty":[11],"in":[12],"control":[13,51,85],"of":[14,21,27,73,86,98],"snake-like":[16,31,53,88],"robot":[17,89],"with":[18,57],"large":[19],"degrees":[20],"freedom":[22],"based":[23],"on":[24,38],"structure":[26],"biological":[28],"snakes":[29],"and":[30,33],"robots":[32],"their":[34],"rhythm":[35],"characteristic.":[36],"Based":[37],"Hodgkin-Huxley's":[40],"CPG":[41,81],"(central":[42],"pattern":[43],"generator)":[44],"model,":[45],"established":[47],"CPG-networks":[49],"robot's":[54],"gait.":[55],"Compared":[56],"previous":[59],"research,":[60],"parameter":[61],"optimization":[62],"is":[63,77],"carried":[64],"out":[65],"for":[66],"two":[67],"typical":[68],"gait":[69,90],"patterns":[70],"by":[71,91],"means":[72],"genetic":[74],"algorithm.":[75],"It":[76],"proved":[78],"that":[79],"model":[82],"can":[83],"realize":[84],"simulation":[93],"results.":[94],"Finally,":[95],"aspects":[97],"future":[99],"researches":[100],"are":[101],"discussed.":[102]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}