{"id":"https://openalex.org/W2113687557","doi":"https://doi.org/10.1109/robot.2004.1307523","title":"An empirical exploration of a neural oscillator for biped locomotion control","display_name":"An empirical exploration of a neural oscillator for biped locomotion control","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2113687557","doi":"https://doi.org/10.1109/robot.2004.1307523","mag":"2113687557"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1545413","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"G. Endo","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","Sony Corporation, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Sony Corporation, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025458882","display_name":"Jun Morimoto","orcid":"https://orcid.org/0000-0002-4115-1919"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Morimoto","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090091148","display_name":"Jun Nakanishi","orcid":"https://orcid.org/0000-0003-4457-6581"},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I1319490839","https://openalex.org/I4210086780"]},{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Nakanishi","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","Computational Brain Project, ICORP/Japan Science and Technology Agency, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Computational Brain Project, ICORP/Japan Science and Technology Agency, Kyoto, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048975019","display_name":"Gordon Cheng","orcid":"https://orcid.org/0000-0003-0770-8717"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"G. Cheng","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.5345,"has_fulltext":false,"cited_by_count":106,"citation_normalized_percentile":{"value":0.99731454,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3036","last_page":"3042 Vol.3"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9828000068664551,"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":0.9787999987602234,"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/zero-moment-point","display_name":"Zero moment point","score":0.8194171786308289},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.7055686712265015},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6748746037483215},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6462779641151428},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6277521848678589},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6114399433135986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5811649560928345},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5686684846878052},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5380766987800598},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.4936705529689789},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.45742642879486084},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4163226783275604},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4106861352920532},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36691245436668396},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3089101016521454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2667068541049957},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24736636877059937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24415016174316406},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23766955733299255}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8194171786308289},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.7055686712265015},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6748746037483215},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6462779641151428},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6277521848678589},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6114399433135986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5811649560928345},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5686684846878052},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5380766987800598},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.4936705529689789},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.45742642879486084},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4163226783275604},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4106861352920532},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36691245436668396},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3089101016521454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2667068541049957},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24736636877059937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24415016174316406},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23766955733299255},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2004.1307523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1545413","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1545413","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50035370","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100560494","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1545413","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1545413","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1485153986","https://openalex.org/W1509504119","https://openalex.org/W1526473519","https://openalex.org/W1545656448","https://openalex.org/W1570717418","https://openalex.org/W1829015105","https://openalex.org/W2026036461","https://openalex.org/W2033226680","https://openalex.org/W2057952125","https://openalex.org/W2129651248","https://openalex.org/W2142992961","https://openalex.org/W2159593326","https://openalex.org/W2163668399","https://openalex.org/W4245431568","https://openalex.org/W4252510982","https://openalex.org/W6631470749"],"related_works":["https://openalex.org/W4287514897","https://openalex.org/W2146332669","https://openalex.org/W2105802469","https://openalex.org/W2913969015","https://openalex.org/W4383108368","https://openalex.org/W4297944487","https://openalex.org/W2113687557","https://openalex.org/W2152572858","https://openalex.org/W26626853","https://openalex.org/W2168349574"],"abstract_inverted_index":{"Humanoid":[0],"research":[1],"has":[2],"made":[3,123],"remarkable":[4],"progress":[5],"during":[6],"the":[7,16,38,76,107,126,147],"past":[8],"10":[9],"years.":[10],"However,":[11],"currently":[12],"most":[13],"humanoids":[14],"use":[15],"target":[17],"ZMP":[18],"(zero":[19],"moment":[20],"point)":[21],"control":[22,35,77],"algorithm":[23],"for":[24,58,75,112,165],"bipedal":[25,59],"locomotion,":[26],"which":[27],"requires":[28],"precise":[29,46],"modeling":[30,47],"and":[31,48,96,106,138],"actuation":[32],"with":[33,98,153,156,167],"high":[34],"gains.":[36],"On":[37],"contrary,":[39],"humans":[40],"do":[41],"not":[42],"rely":[43],"on":[44],"such":[45],"actuation.":[49],"Our":[50],"aim":[51],"is":[52],"to":[53,89,149],"examine":[54],"biologically":[55],"related":[56],"algorithms":[57],"locomotion":[60],"that":[61],"resemble":[62],"human-like":[63],"locomotion.":[64,80],"This":[65],"paper":[66],"describes":[67],"an":[68],"empirical":[69],"study":[70],"of":[71,78,128,136,140],"a":[72,83,90,99,130],"neural":[73,85,132],"oscillator":[74,86],"biped":[79,92,101],"We":[81],"propose":[82],"new":[84],"arrangement":[87],"applied":[88],"compass-like":[91],"robot.":[93],"Dynamic":[94],"simulations":[95],"experiments":[97],"real":[100],"robot":[102,148],"were":[103],"carried":[104],"out":[105],"controller":[108],"performs":[109],"steady":[110],"walking":[111],"over":[113,151],"50":[114],"steps.":[115],"Gait":[116],"variations":[117],"resulting":[118],"in":[119],"energy":[120],"efficiency":[121],"was":[122],"possible":[124],"through":[125],"adjustment":[127],"only":[129],"single":[131],"activity":[133],"parameter.":[134],"Aspects":[135],"adaptability":[137],"robustness":[139],"our":[141],"approach":[142],"are":[143,169],"shown":[144],"by":[145],"allowing":[146],"walk":[150],"terrains":[152],"varying":[154],"surfaces":[155],"different":[157],"frictional":[158],"properties.":[159],"Initial":[160],"results":[161],"suggesting":[162],"optimal":[163],"amplitude":[164],"dealing":[166],"perturbation":[168],"also":[170],"presented.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}