{"id":"https://openalex.org/W2793764615","doi":"https://doi.org/10.1109/robio.2017.8324830","title":"Smooth transition of the CPG-based controller for snake-like robots","display_name":"Smooth transition of the CPG-based controller for snake-like robots","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2793764615","doi":"https://doi.org/10.1109/robio.2017.8324830","mag":"2793764615"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324830","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324830","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100933745","display_name":"Dong Zhang","orcid":"https://orcid.org/0000-0003-2824-2020"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Zhang","raw_affiliation_strings":["School of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101535525","display_name":"Qing Xiao","orcid":"https://orcid.org/0000-0002-0649-5361"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Xiao","raw_affiliation_strings":["School of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079155612","display_name":"Zhengcai Cao","orcid":"https://orcid.org/0000-0003-0344-0207"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengcai Cao","raw_affiliation_strings":["School of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058264767","display_name":"Ran Huang","orcid":"https://orcid.org/0000-0003-3768-6141"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Huang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008597054","display_name":"Yili Fu","orcid":"https://orcid.org/0000-0003-2075-2384"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yili Fu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2716","last_page":"2721"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9965999722480774,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.8815213441848755},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7236641645431519},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6423699855804443},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6350281238555908},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5884358286857605},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5733238458633423},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5606572031974792},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5154179334640503},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5045188665390015},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4718375504016876},{"id":"https://openalex.org/keywords/modulation","display_name":"Modulation (music)","score":0.46900439262390137},{"id":"https://openalex.org/keywords/sine-wave","display_name":"Sine wave","score":0.4361236095428467},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41440534591674805},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.41345980763435364},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39685705304145813},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3626925051212311},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2796252369880676},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24344196915626526},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22992587089538574},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.21242117881774902},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18902632594108582},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.11696773767471313},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1062362790107727},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.08487877249717712}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8815213441848755},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7236641645431519},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6423699855804443},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6350281238555908},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5884358286857605},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5733238458633423},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5606572031974792},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5154179334640503},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5045188665390015},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4718375504016876},{"id":"https://openalex.org/C123079801","wikidata":"https://www.wikidata.org/wiki/Q750240","display_name":"Modulation (music)","level":2,"score":0.46900439262390137},{"id":"https://openalex.org/C66907618","wikidata":"https://www.wikidata.org/wiki/Q207527","display_name":"Sine wave","level":3,"score":0.4361236095428467},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41440534591674805},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.41345980763435364},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39685705304145813},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3626925051212311},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2796252369880676},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24344196915626526},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22992587089538574},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.21242117881774902},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18902632594108582},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.11696773767471313},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1062362790107727},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.08487877249717712},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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},{"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/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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/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/robio.2017.8324830","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324830","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1753057598","https://openalex.org/W1974547236","https://openalex.org/W2021973929","https://openalex.org/W2033910955","https://openalex.org/W2042356665","https://openalex.org/W2063386317","https://openalex.org/W2070701568","https://openalex.org/W2094227705","https://openalex.org/W2094369765","https://openalex.org/W2098135729","https://openalex.org/W2134753324","https://openalex.org/W2146262966","https://openalex.org/W2156174987","https://openalex.org/W2213568608","https://openalex.org/W2344451648","https://openalex.org/W2560138503","https://openalex.org/W2594542562","https://openalex.org/W2614292208","https://openalex.org/W6674584297","https://openalex.org/W6704488105"],"related_works":["https://openalex.org/W2151114827","https://openalex.org/W2764257870","https://openalex.org/W2144368969","https://openalex.org/W1994587340","https://openalex.org/W1981473936","https://openalex.org/W2214217142","https://openalex.org/W3157588758","https://openalex.org/W2906866672","https://openalex.org/W2066680284","https://openalex.org/W3215081502"],"abstract_inverted_index":{"Nature":[0],"snakes":[1],"vary":[2],"their":[3],"gaits":[4,25],"flexibly":[5],"according":[6],"to":[7,17,67,82,94],"different":[8],"terrains,":[9],"so":[10],"it":[11],"is":[12,44,54,59],"significant":[13],"for":[14,27],"snake-like":[15],"robots":[16],"incorporate":[18],"more":[19],"available":[20],"locomotion":[21],"patterns":[22],"and":[23,40,46,87],"switch":[24],"smoothly":[26],"good":[28],"adaptability.":[29],"In":[30],"this":[31],"paper,":[32],"a":[33,47],"bionic":[34],"joint":[35],"mechanism":[36],"with":[37],"parallel":[38],"links":[39],"active":[41],"orthogonal":[42],"omni-wheel":[43],"designed,":[45],"novel":[48],"central":[49],"pattern":[50],"generator":[51],"(CPG)":[52],"architecture":[53],"proposed.":[55],"A":[56],"sine":[57],"approach":[58],"used":[60],"in":[61,78],"the":[62,72,79,84,96,99],"modulation":[63],"of":[64,98],"CPG":[65],"parameters":[66],"avoid":[68],"stiff":[69],"impulses.":[70],"Moreover,":[71],"method":[73],"also":[74],"can":[75],"be":[76],"applied":[77],"beginning":[80],"stage":[81],"improve":[83],"motion":[85],"effectiveness":[86,97],"save":[88],"energy.":[89],"Simulation":[90],"results":[91],"are":[92],"presented":[93],"illustrate":[95],"proposed":[100],"smooth":[101],"transition":[102],"method.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
