{"id":"https://openalex.org/W2400736277","doi":"https://doi.org/10.1109/tie.2016.2569489","title":"Gait Generation With Smooth Transition Using CPG-Based Locomotion Control for Hexapod Walking Robot","display_name":"Gait Generation With Smooth Transition Using CPG-Based Locomotion Control for Hexapod Walking Robot","publication_year":2016,"publication_date":"2016-05-17","ids":{"openalex":"https://openalex.org/W2400736277","doi":"https://doi.org/10.1109/tie.2016.2569489","mag":"2400736277"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2016.2569489","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2569489","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-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/A5059277742","display_name":"Haitao Yu","orcid":"https://orcid.org/0000-0002-1304-3988"},"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"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Yu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1304-3988","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"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"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012020883","display_name":"Liang Ding","orcid":"https://orcid.org/0000-0002-8351-5178"},"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"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Ding","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102985038","display_name":"Mantian Li","orcid":"https://orcid.org/0000-0003-4689-3484"},"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"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mantian Li","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"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"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongquan Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044198396","display_name":"Guangjun Liu","orcid":"https://orcid.org/0000-0002-3301-1166"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Guangjun Liu","raw_affiliation_strings":["Department of Aerospace Engineering, Ryerson University, Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Ryerson University, Toronto, ON, Canada","institution_ids":["https://openalex.org/I530967"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0038,"has_fulltext":false,"cited_by_count":74,"citation_normalized_percentile":{"value":0.90932509,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"63","issue":"9","first_page":"5488","last_page":"5500"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.993399977684021,"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":0.9894999861717224,"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/hexapod","display_name":"Hexapod","score":0.9691793918609619},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.8877341151237488},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7268775701522827},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6837853789329529},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.5285177230834961},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5018393993377686},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4795227348804474},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.469698429107666},{"id":"https://openalex.org/keywords/van-der-pol-oscillator","display_name":"Van der Pol oscillator","score":0.44644758105278015},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33085301518440247},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.21820732951164246},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18353217840194702},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.15776294469833374},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15764743089675903},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1462949514389038},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1206396222114563},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08710211515426636}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9691793918609619},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8877341151237488},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7268775701522827},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6837853789329529},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.5285177230834961},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5018393993377686},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4795227348804474},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.469698429107666},{"id":"https://openalex.org/C98010927","wikidata":"https://www.wikidata.org/wiki/Q2081515","display_name":"Van der Pol oscillator","level":3,"score":0.44644758105278015},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33085301518440247},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.21820732951164246},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18353217840194702},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.15776294469833374},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15764743089675903},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1462949514389038},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1206396222114563},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08710211515426636},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","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/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/tie.2016.2569489","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2569489","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2399843589","display_name":null,"funder_award_id":"51575120","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3106032563","display_name":null,"funder_award_id":"51275106","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G387971928","display_name":null,"funder_award_id":"B07018","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G5383534787","display_name":null,"funder_award_id":"51521003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W391578156","https://openalex.org/W1494916908","https://openalex.org/W1974547236","https://openalex.org/W1977732983","https://openalex.org/W1984978849","https://openalex.org/W1984986877","https://openalex.org/W1989906078","https://openalex.org/W2013876510","https://openalex.org/W2021973929","https://openalex.org/W2036078241","https://openalex.org/W2048450448","https://openalex.org/W2050426505","https://openalex.org/W2054186704","https://openalex.org/W2068033831","https://openalex.org/W2075674413","https://openalex.org/W2079224419","https://openalex.org/W2081295695","https://openalex.org/W2086626342","https://openalex.org/W2094369765","https://openalex.org/W2107150674","https://openalex.org/W2113028215","https://openalex.org/W2113687557","https://openalex.org/W2137578158","https://openalex.org/W2144091291","https://openalex.org/W2146138727","https://openalex.org/W2151130840","https://openalex.org/W2153195058","https://openalex.org/W2154715640","https://openalex.org/W2156174987","https://openalex.org/W2162391026","https://openalex.org/W4214748929","https://openalex.org/W4246912672"],"related_works":["https://openalex.org/W4318316102","https://openalex.org/W2060252589","https://openalex.org/W2630004860","https://openalex.org/W827079712","https://openalex.org/W2387539491","https://openalex.org/W2026846936","https://openalex.org/W2688308315","https://openalex.org/W3113929423","https://openalex.org/W3123196627","https://openalex.org/W2609932076"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,37,46,131],"locomotion":[4,132,195],"control":[5,133,163,196],"method":[6,87],"based":[7],"on":[8],"central":[9],"pattern":[10],"generator":[11],"(CPG)":[12],"for":[13,135,172],"hexapod":[14,137,173],"walking":[15,170],"robot":[16,138],"to":[17,44,75,99,117,123,142],"achieve":[18],"gait":[19,149],"generation":[20],"with":[21,50,64,104],"smooth":[22,177],"transition.":[23],"By":[24,151],"deriving":[25],"an":[26,89],"analytical":[27],"limit":[28],"cycle":[29],"approximation":[30],"of":[31,55,69,82,126,157,167,192],"the":[32,56,70,83,96,101,114,119,124,127,136,144,148,154,158,161,180,190,193],"Van":[33],"der":[34],"Pol":[35],"oscillator,":[36],"simple":[38],"diffusive":[39],"coupling":[40],"scheme":[41],"is":[42,59,139,165],"proposed":[43,57,115,162,194],"construct":[45],"ring-shape":[47],"CPG":[48,84,129,159],"network":[49,58,97,116],"phase-locked":[51],"behavior.":[52],"The":[53,183],"stability":[54],"proved":[60],"using":[61],"synchronization":[62],"analysis":[63],"guaranteed":[65],"uniform":[66],"ultimate":[67],"boundedness":[68],"synchronous":[71],"errors.":[72],"In":[73],"contrast":[74],"conventional":[76],"numerical":[77],"methods":[78],"in":[79],"tuning":[80],"parameters":[81,98],"network,":[85,160],"our":[86],"provides":[88],"explicit":[90],"result":[91],"that":[92],"could":[93],"analytically":[94],"determine":[95],"yield":[100],"rhythmic":[102],"waveforms":[103],"prescribed":[105],"frequency,":[106],"amplitude,":[107],"and":[108,175,185],"phase":[109,121,155],"relationship":[110],"among":[111,179],"neurons.":[112],"Employing":[113],"govern":[118],"swing/stance":[120],"according":[122],"profile":[125],"resulting":[128],"signals,":[130],"strategy":[134,164],"further":[140],"developed":[141],"manipulate":[143],"leg":[145],"movements":[146],"during":[147],"cycle.":[150],"simply":[152],"adjusting":[153],"lags":[156],"capable":[166],"generating":[168],"stable":[169],"gaits":[171],"robots":[174],"achieving":[176],"transition":[178],"generated":[181],"gaits.":[182],"simulation":[184],"experimental":[186],"results":[187],"have":[188],"demonstrated":[189],"effectiveness":[191],"method.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
