{"id":"https://openalex.org/W2141791321","doi":"https://doi.org/10.1109/robot.2008.4543306","title":"Pattern generators with sensory feedback for the control of quadruped locomotion","display_name":"Pattern generators with sensory feedback for the control of quadruped locomotion","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2141791321","doi":"https://doi.org/10.1109/robot.2008.4543306","mag":"2141791321"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/130740","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026007843","display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["School of Communication and Computer Science, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","Sch. of Commun. & Comput. Sci., Ecole Polytech. Fed. de Lausanne, Lausanne"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Communication and Computer Science, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Sch. of Commun. & Comput. Sci., Ecole Polytech. Fed. de Lausanne, Lausanne","institution_ids":["https://openalex.org/I29607241"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Auke Jan Ijspeert","raw_affiliation_strings":["School of Communication and Computer Science, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","Sch. of Commun. & Comput. Sci., Ecole Polytech. Fed. de Lausanne, Lausanne"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Communication and Computer Science, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Sch. of Commun. & Comput. Sci., Ecole Polytech. Fed. de Lausanne, Lausanne","institution_ids":["https://openalex.org/I29607241"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":249,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"819","last_page":"824"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9837999939918518,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9656000137329102,"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":0.9387803673744202},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5793657898902893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5539042949676514},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5405524969100952},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5317797660827637},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5282394289970398},{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.49163657426834106},{"id":"https://openalex.org/keywords/biocybernetics","display_name":"Biocybernetics","score":0.4791280925273895},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.4423600733280182},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4381413459777832},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39820051193237305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34496283531188965},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.32862749695777893},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.32745301723480225},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29612722992897034},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24133113026618958},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.20254331827163696},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1997186243534088},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.1750342845916748},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.132833331823349},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10689345002174377},{"id":"https://openalex.org/keywords/cybernetics","display_name":"Cybernetics","score":0.0782700777053833}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.9387803673744202},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5793657898902893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5539042949676514},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5405524969100952},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5317797660827637},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5282394289970398},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.49163657426834106},{"id":"https://openalex.org/C108426073","wikidata":"https://www.wikidata.org/wiki/Q864512","display_name":"Biocybernetics","level":3,"score":0.4791280925273895},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.4423600733280182},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4381413459777832},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39820051193237305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34496283531188965},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.32862749695777893},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.32745301723480225},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29612722992897034},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24133113026618958},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.20254331827163696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1997186243534088},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.1750342845916748},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.132833331823349},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10689345002174377},{"id":"https://openalex.org/C115286129","wikidata":"https://www.wikidata.org/wiki/Q123637","display_name":"Cybernetics","level":2,"score":0.0782700777053833},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2008.4543306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:130740","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/130740","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:130740","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/130740","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1988274707","https://openalex.org/W1990157740","https://openalex.org/W2014824949","https://openalex.org/W2017970073","https://openalex.org/W2048963734","https://openalex.org/W2064608742","https://openalex.org/W2085733653","https://openalex.org/W2097400963","https://openalex.org/W2110304639","https://openalex.org/W2114372896","https://openalex.org/W2116712719","https://openalex.org/W2116801943","https://openalex.org/W2138373683","https://openalex.org/W2540120844","https://openalex.org/W2951788303","https://openalex.org/W6677110198"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2198321481","https://openalex.org/W2141791321"],"abstract_inverted_index":{"Central":[0],"pattern":[1],"generators":[2],"(CPGs)":[3],"are":[4,19],"becoming":[5],"a":[6,33,61,116],"popular":[7],"model":[8],"for":[9,23,188],"the":[10,24,75,81,84,90,127,131,137,154,159,162,167,182,185],"control":[11,74,144,171],"of":[12,14,26,36,46,63,80,89,102,119,161,169,172],"locomotion":[13],"legged":[15],"robots.":[16],"Biological":[17],"CPGs":[18,39,65],"neural":[20,42],"networks":[21,43,101],"responsible":[22],"generation":[25],"rhythmic":[27],"movements,":[28],"especially":[29],"locomotion.":[30],"In":[31,56],"robotics,":[32],"systematic":[34,117],"way":[35,62,118],"designing":[37,64],"such":[38,129],"as":[40],"artificial":[41],"or":[44],"systems":[45],"coupled":[47,67,135],"oscillators":[48,68,103],"with":[49,66,136],"sensory":[50,121],"feedback":[51,122],"inclusion":[52],"is":[53,133],"still":[54],"missing.":[55],"this":[57],"contribution,":[58],"we":[59,71,98,114,143],"present":[60],"in":[69,126],"which":[70],"can":[72],"independently":[73],"ascending":[76],"and":[77,86,151,174,184,197],"descending":[78],"phases":[79,88],"oscillations":[82],"(i.e.":[83],"swing":[85,173],"stance":[87,175],"limbs).":[91],"Using":[92],"insights":[93],"from":[94,123],"dynamical":[95],"system":[96,139],"theory,":[97],"construct":[99],"generic":[100],"able":[104],"to":[105,157],"generate":[106],"several":[107],"gaits":[108],"under":[109,193],"simple":[110],"parameter":[111],"changes.":[112],"Then":[113],"introduce":[115],"adding":[120],"touch":[124],"sensors":[125],"CPG":[128,183],"that":[130],"controller":[132,156],"strongly":[134],"mechanical":[138],"it":[140],"controls.":[141],"Finally":[142],"three":[145],"different":[146],"simulated":[147],"robots":[148],"(iCub,":[149],"Aibo":[150],"Ghostdog)":[152],"using":[153],"same":[155],"show":[158],"effectiveness":[160],"approach.":[163],"Our":[164],"simulations":[165],"prove":[166],"importance":[168],"independent":[170],"duration.":[176],"The":[177],"strong":[178],"mutual":[179],"coupling":[180],"between":[181],"robot":[186],"allows":[187],"more":[189],"robust":[190],"locomotion,":[191],"even":[192],"non":[194],"precise":[195],"parameters":[196],"non-flat":[198],"environment.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":23},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":17},{"year":2013,"cited_by_count":19},{"year":2012,"cited_by_count":19}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
