{"id":"https://openalex.org/W2162550735","doi":"https://doi.org/10.1109/iros.2000.895253","title":"Design of central pattern generator for humanoid robot walking based on multi-objective GA","display_name":"Design of central pattern generator for humanoid robot walking based on multi-objective GA","publication_year":2002,"publication_date":"2002-11-07","ids":{"openalex":"https://openalex.org/W2162550735","doi":"https://doi.org/10.1109/iros.2000.895253","mag":"2162550735"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2000.895253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2000.895253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)","raw_type":"proceedings-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/A5101993753","display_name":"Shan Jiang","orcid":"https://orcid.org/0000-0002-1067-2519"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiang Shan","raw_affiliation_strings":["Information storage research center, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Information storage research center, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Cheng Junshi","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Junshi","raw_affiliation_strings":["Information storage research center, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Information storage research center, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":null,"display_name":"Chen Jiapin","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Jiapin","raw_affiliation_strings":["Information storage research center, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Information storage research center, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101993753"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.3311,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.64281991,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"3","issue":null,"first_page":"1930","last_page":"1935"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9728999733924866,"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":0.9580000042915344,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8780287504196167},{"id":"https://openalex.org/keywords/crossover","display_name":"Crossover","score":0.7609968185424805},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.6886404156684875},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.6343798637390137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5743716955184937},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.5246344208717346},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.5129701495170593},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49419882893562317},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.48578837513923645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45902639627456665},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4252168536186218},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.14375457167625427}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8780287504196167},{"id":"https://openalex.org/C122507166","wikidata":"https://www.wikidata.org/wiki/Q628906","display_name":"Crossover","level":2,"score":0.7609968185424805},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.6886404156684875},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.6343798637390137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5743716955184937},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.5246344208717346},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.5129701495170593},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49419882893562317},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.48578837513923645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45902639627456665},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4252168536186218},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.14375457167625427},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"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/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2000.895253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2000.895253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W44269976","https://openalex.org/W1526473519","https://openalex.org/W1561130515","https://openalex.org/W1581909396","https://openalex.org/W1583661605","https://openalex.org/W1896888274","https://openalex.org/W1914373455","https://openalex.org/W1981482624","https://openalex.org/W2002316126","https://openalex.org/W2033226680","https://openalex.org/W2050426505","https://openalex.org/W2052578957","https://openalex.org/W2140066605","https://openalex.org/W2142992961","https://openalex.org/W4235915310","https://openalex.org/W6601819162","https://openalex.org/W6680838134"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2130383927","https://openalex.org/W2133801610","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2593698653","https://openalex.org/W3007775259","https://openalex.org/W1987645625","https://openalex.org/W2546626642","https://openalex.org/W2024992416"],"abstract_inverted_index":{"Recently,":[0],"the":[1,12,30,49,88,106,109,113,123,139,146,153],"field":[2],"of":[3,32,48,58,105],"humanoid":[4,15,36,50],"robotics":[5],"attracts":[6],"more":[7,9],"and":[8,11,63,75,108,118,125,133,149],"interest":[10],"research":[13],"on":[14,18,98],"locomotion":[16,38],"based":[17,97],"central":[19],"pattern":[20],"generators":[21],"(CPG)":[22],"reveals":[23],"many":[24],"challenging":[25],"aspects.":[26],"This":[27],"paper":[28],"describes":[29],"design":[31],"CPG":[33],"for":[34],"stable":[35],"bipedal":[37],"using":[39],"an":[40,79],"evolutionary":[41],"approach.":[42],"In":[43,112],"this":[44],"research,":[45],"each":[46],"joint":[47],"is":[51,84,141],"driven":[52],"by":[53,69],"a":[54,150],"neuron":[55],"that":[56],"consists":[57],"two":[59],"coupled":[60],"neural":[61],"oscillators,":[62],"corresponding":[64],"joint's":[65],"neurons":[66],"are":[67,95,121,128],"connected":[68],"strength":[70],"weight.":[71],"To":[72],"achieve":[73],"natural":[74],"robust":[76],"walking":[77,110,144],"pattern,":[78],"evolutionary-based":[80],"multi-objective":[81],"optimization":[82,90],"algorithm":[83],"used":[85],"to":[86,143],"solve":[87],"weight":[89],"problem.":[91],"The":[92],"fitness":[93],"functions":[94],"formulated":[96],"zero":[99],"moment":[100],"point":[101],"(ZMP),":[102],"global":[103],"attitude":[104],"robot":[107,140],"speed.":[111],"algorithms,":[114],"real":[115],"value":[116],"coding":[117],"tournament":[119],"selection":[120],"applied,":[122],"crossover":[124,132],"mutation":[126,135],"operators":[127],"chosen":[129],"as":[130],"heuristic":[131],"boundary":[134],"respectively.":[136],"Following":[137],"evolving,":[138],"able":[142],"in":[145],"given":[147],"environment":[148],"simulation":[151],"shows":[152],"result.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}