{"id":"https://openalex.org/W2041901589","doi":"https://doi.org/10.1109/cdc.2011.6160419","title":"Nonlinear motion control of CPG-based movement with applications to a class of swimming robots","display_name":"Nonlinear motion control of CPG-based movement with applications to a class of swimming robots","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2041901589","doi":"https://doi.org/10.1109/cdc.2011.6160419","mag":"2041901589"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/178434","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063757497","display_name":"Yannick Morel","orcid":null},"institutions":[{"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"],"is_corresponding":true,"raw_author_name":"Yannick Morel","raw_affiliation_strings":["BioRobotics Laboratory, Bioengineering Institute, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne, Lausanne, Switzerland","BioRobotics Laboratory, Bioengineering Institute, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), CH-1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"BioRobotics Laboratory, Bioengineering Institute, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"BioRobotics Laboratory, Bioengineering Institute, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), CH-1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089874621","display_name":"Mathieu Porez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mathieu Porez","raw_affiliation_strings":["IRCCyN Laboratory, Mines de Nantes, Nantes, France","IRCCyN Laboratory, Mines de Nantes, 44307, France"],"affiliations":[{"raw_affiliation_string":"IRCCyN Laboratory, Mines de Nantes, Nantes, France","institution_ids":[]},{"raw_affiliation_string":"IRCCyN Laboratory, Mines de Nantes, 44307, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025620905","display_name":"Alexander Leonessa","orcid":"https://orcid.org/0000-0001-9317-2714"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Leonessa","raw_affiliation_strings":["Faculty of Mechanical Engineering (Vibration and Acoustics Laboratory), Virginia Polytechnic and State University, Blacksburg, VA, USA","Faculty of Mechanical Engineering (Vibration and Acoustics Laboratory), Virginia Polytechnic and State University, Blacksburg, 24061, USA"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering (Vibration and Acoustics Laboratory), Virginia Polytechnic and State University, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering (Vibration and Acoustics Laboratory), Virginia Polytechnic and State University, Blacksburg, 24061, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"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/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"]},{"id":"https://openalex.org/I4210092485","display_name":"Bioengineering (Switzerland)","ror":"https://ror.org/00m2xfz17","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210092485"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke J. Ijspeert","raw_affiliation_strings":["Faculty of Bioengineering (BioRobotics Lab-oratory), Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne, Lausanne, Switzerland","Faculty of Bioengineering (BioRobotics Laboratory), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), CH-1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Faculty of Bioengineering (BioRobotics Lab-oratory), Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210092485"]},{"raw_affiliation_string":"Faculty of Bioengineering (BioRobotics Laboratory), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), CH-1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063757497"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":1.0783,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.77204856,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6331","last_page":"6336"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.7934918403625488},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6984001398086548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6033759713172913},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5736774802207947},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5693756937980652},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5273752212524414},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5130544900894165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5073668360710144},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5012173652648926},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4985501766204834},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4959951341152191},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4729062020778656},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4548923373222351},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41514962911605835},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.41357362270355225},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4121038019657135},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.4105480909347534},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3727448582649231},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2478419840335846},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07855242490768433},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06281620264053345},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.059648990631103516}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.7934918403625488},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6984001398086548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6033759713172913},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5736774802207947},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5693756937980652},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5273752212524414},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5130544900894165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5073668360710144},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5012173652648926},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4985501766204834},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4959951341152191},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4729062020778656},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4548923373222351},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41514962911605835},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.41357362270355225},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4121038019657135},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.4105480909347534},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3727448582649231},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2478419840335846},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07855242490768433},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06281620264053345},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.059648990631103516},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc.2011.6160419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.896.3426","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.896.3426","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.researchgate.net/profile/Alexander_Leonessa/publication/228460871_Nonlinear_Motion_Control_of_CPG-based_Movement_with_Applications_to_a_Class_of_Swimming_Robots/links/0deec516d245d721d0000000.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:hal-00647063v1","is_oa":false,"landing_page_url":"https://hal.science/hal-00647063","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference, Dec 2011, Orlando, United States. pp.0-6","raw_type":"Conference papers"},{"id":"pmh:oai:infoscience.epfl.ch:178434","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/178434","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:178434","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/178434","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":[{"display_name":"Life below water","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1517236425","https://openalex.org/W1543651123","https://openalex.org/W1561445488","https://openalex.org/W1572161815","https://openalex.org/W1975230295","https://openalex.org/W1999396451","https://openalex.org/W2052578957","https://openalex.org/W2055845023","https://openalex.org/W2067603665","https://openalex.org/W2078794407","https://openalex.org/W2089048259","https://openalex.org/W2090167557","https://openalex.org/W2094369765","https://openalex.org/W2100531771","https://openalex.org/W2113556584","https://openalex.org/W2114372896","https://openalex.org/W2117280259","https://openalex.org/W2118106418","https://openalex.org/W2127940313","https://openalex.org/W2129874364","https://openalex.org/W2138671676","https://openalex.org/W2141791321","https://openalex.org/W2144087865","https://openalex.org/W2151379280","https://openalex.org/W2155970105","https://openalex.org/W2156174987","https://openalex.org/W2493502058","https://openalex.org/W6644135095","https://openalex.org/W6678878438","https://openalex.org/W6723703297"],"related_works":["https://openalex.org/W2033722333","https://openalex.org/W3096187747","https://openalex.org/W2291700020","https://openalex.org/W2086863125","https://openalex.org/W3004220142","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2001900524","https://openalex.org/W2917916498","https://openalex.org/W4362682344"],"abstract_inverted_index":{"In":[0],"bio-inspired":[1],"robotics,":[2],"use":[3],"of":[4,23,52,63,71,77],"a":[5,21,78],"Central":[6],"Pattern":[7],"Generator":[8],"(CPG)":[9],"to":[10,30],"coordinate":[11],"actuation":[12],"is":[13,67],"fairly":[14],"common.":[15],"The":[16],"gait":[17],"achieved":[18],"depends":[19],"on":[20],"number":[22],"CPG":[24],"parameters,":[25],"which":[26],"can":[27],"be":[28],"adjusted":[29],"control":[31,42,53],"the":[32,64,75],"robot's":[33],"motion.":[34],"This":[35],"paper":[36],"presents":[37],"an":[38],"output":[39],"feedback":[40],"motion":[41],"framework,":[43],"addressing":[44],"issues":[45],"encountered":[46],"when":[47],"dealing":[48],"with":[49],"this":[50],"type":[51],"problem,":[54],"including":[55],"partial":[56],"state":[57],"measurements":[58],"and":[59],"system":[60],"uncertainty.":[61],"Efficacy":[62],"presented":[65],"approach":[66],"illustrated":[68],"by":[69],"results":[70],"numerical":[72],"simulations":[73],"in":[74],"case":[76],"swimming":[79],"robot.":[80]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}