{"id":"https://openalex.org/W2125177287","doi":"https://doi.org/10.1109/robot.2005.1570183","title":"Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO","display_name":"Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2125177287","doi":"https://doi.org/10.1109/robot.2005.1570183","mag":"2125177287"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570183","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1545403","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/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]},{"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":true,"raw_author_name":"Gen Endo","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","Sony Intelligence Dynamics Laboratories, Inc., Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Sony Intelligence Dynamics Laboratories, Inc., Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]}]},{"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/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":"Jun Nakanishi","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"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":"Jun Morimoto","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"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"],"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021539241"],"corresponding_institution_ids":["https://openalex.org/I4210104143","https://openalex.org/I4210122684"],"apc_list":null,"apc_paid":null,"fwci":14.5077,"has_fulltext":false,"cited_by_count":124,"citation_normalized_percentile":{"value":0.99374477,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"596","last_page":"602"},"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":0.989300012588501,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.8168400526046753},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6546608209609985},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6394036412239075},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6302598714828491},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.6033216714859009},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.5748623609542847},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5727134346961975},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5303236842155457},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4551531970500946},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.42183998227119446},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.4188155233860016},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.418215811252594},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34306466579437256},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.23349449038505554},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23215827345848083},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21160215139389038},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20298358798027039},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.1377848982810974},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10505574941635132},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.08325478434562683}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8168400526046753},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6546608209609985},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6394036412239075},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6302598714828491},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.6033216714859009},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.5748623609542847},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5727134346961975},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5303236842155457},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4551531970500946},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.42183998227119446},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.4188155233860016},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.418215811252594},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34306466579437256},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.23349449038505554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23215827345848083},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21160215139389038},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20298358798027039},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.1377848982810974},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10505574941635132},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.08325478434562683},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2005.1570183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570183","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1545403","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1545403","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of 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"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1545403","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1545403","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of 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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1509504119","https://openalex.org/W1526473519","https://openalex.org/W1559505176","https://openalex.org/W2026036461","https://openalex.org/W2057952125","https://openalex.org/W2063698547","https://openalex.org/W2090462684","https://openalex.org/W2098523767","https://openalex.org/W2113687557","https://openalex.org/W2133761776","https://openalex.org/W2153917213","https://openalex.org/W2331452584","https://openalex.org/W2546562180","https://openalex.org/W4235915310","https://openalex.org/W6630552132","https://openalex.org/W6729170636"],"related_works":["https://openalex.org/W2186459124","https://openalex.org/W2144368969","https://openalex.org/W2214217142","https://openalex.org/W2066680284","https://openalex.org/W2729613941","https://openalex.org/W3215081502","https://openalex.org/W2043218551","https://openalex.org/W1999790077","https://openalex.org/W2988322103","https://openalex.org/W2125177287"],"abstract_inverted_index":{"Recently,":[0],"there":[1],"has":[2],"been":[3,30],"a":[4,47,52,69,127,146],"growing":[5],"interest":[6],"in":[7,34,96,140],"biologically":[8],"inspired":[9],"biped":[10,44,143],"locomotion":[11,45,144],"control":[12],"with":[13,68,113,135],"Central":[14],"Pattern":[15],"Generator":[16],"(CPG).":[17],"However,":[18],"few":[19],"experimental":[20],"attempts":[21],"on":[22,106,145],"real":[23],"hardware":[24],"3D":[25,43,142],"humanoid":[26,53,148],"robots":[27],"have":[28],"yet":[29],"made.":[31],"Our":[32],"goal":[33],"this":[35],"paper":[36],"is":[37,130],"to":[38,51,79],"present":[39],"our":[40],"achievement":[41],"of":[42,60,93],"using":[46],"neural":[48,61,128],"oscillator":[49,129],"applied":[50],"robot,":[54],"QRIO.":[55,108],"We":[56,84,102],"employ":[57],"reduced":[58],"number":[59],"oscillators":[62],"as":[63],"the":[64,99,107,136],"CPG":[65],"model,":[66],"along":[67,98],"task":[70],"space":[71],"Cartesian":[72],"coordinate":[73],"system":[74],"and":[75,132],"utilizing":[76],"entrainment":[77],"property":[78],"establish":[80],"stable":[81],"walking":[82],"gait.":[83],"verify":[85],"robustness":[86],"against":[87],"lateral":[88,100,137],"perturbation,":[89],"through":[90],"numerical":[91],"simulation":[92],"stepping":[94,121],"motion":[95,124,138],"place":[97],"plane.":[101],"then":[103,133],"implemented":[104],"it":[105],"It":[109],"could":[110],"successfully":[111],"cope":[112],"unknown":[114],"3mm":[115],"bump":[116],"by":[117,126],"autonomously":[118],"adjusting":[119],"its":[120],"period.":[122],"Sagittal":[123],"produced":[125],"introduced,":[131],"overlapped":[134],"generator":[139],"realizing":[141],"QRIO":[147],"robot.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
