{"id":"https://openalex.org/W2151405298","doi":"https://doi.org/10.1109/robot.2000.844103","title":"Toward biomorphic control using custom aVLSI CPG chips","display_name":"Toward biomorphic control using custom aVLSI CPG chips","publication_year":2002,"publication_date":"2002-11-07","ids":{"openalex":"https://openalex.org/W2151405298","doi":"https://doi.org/10.1109/robot.2000.844103","mag":"2151405298"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2000.844103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2000.844103","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5111910156","display_name":"M. Anthony Lewis","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M.A. Lewis","raw_affiliation_strings":["Iguana Robotics, Inc., Mahomet, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Iguana Robotics, Inc., Mahomet, IL, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037936459","display_name":"Ralph Etienne\u2010Cummings","orcid":"https://orcid.org/0000-0003-4445-973X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Etienne-Cummings","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065405943","display_name":"Avis H. Cohen","orcid":"https://orcid.org/0009-0003-1971-1072"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.H. Cohen","raw_affiliation_strings":["Department of Biology Neuroscience and Cognitive Science, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biology Neuroscience and Cognitive Science, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079028851","display_name":"Mitra J. Z. Hartmann","orcid":"https://orcid.org/0000-0003-0783-1483"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Hartmann","raw_affiliation_strings":["Division of Biology, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Biology, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.202,"has_fulltext":false,"cited_by_count":74,"citation_normalized_percentile":{"value":0.99141113,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"1","issue":null,"first_page":"494","last_page":"500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9940999746322632,"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":0.9940999746322632,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9800000190734863,"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":0.8859307765960693},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.668221116065979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6103858947753906},{"id":"https://openalex.org/keywords/chip","display_name":"Chip","score":0.5938174724578857},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5296179056167603},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.48743942379951477},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.48428720235824585},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.4828391671180725},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4530066251754761},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.42696988582611084},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4134995937347412},{"id":"https://openalex.org/keywords/very-large-scale-integration","display_name":"Very-large-scale integration","score":0.41213613748550415},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3812834620475769},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.36725056171417236},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.3434533476829529},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2697708010673523},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2668902277946472},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18072262406349182}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8859307765960693},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.668221116065979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6103858947753906},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.5938174724578857},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5296179056167603},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.48743942379951477},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.48428720235824585},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.4828391671180725},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4530066251754761},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.42696988582611084},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4134995937347412},{"id":"https://openalex.org/C14580979","wikidata":"https://www.wikidata.org/wiki/Q876049","display_name":"Very-large-scale integration","level":2,"score":0.41213613748550415},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3812834620475769},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.36725056171417236},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.3434533476829529},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2697708010673523},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2668902277946472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18072262406349182},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2000.844103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2000.844103","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.201.7643","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.201.7643","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.life.umd.edu/biology/cohenlab/Subpages/Facultypage/Icra.pdf","raw_type":"text"}],"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/W41850684","https://openalex.org/W203590388","https://openalex.org/W1488708381","https://openalex.org/W1578929578","https://openalex.org/W1592648754","https://openalex.org/W2009175989","https://openalex.org/W2021973929","https://openalex.org/W2051385641","https://openalex.org/W2073389632","https://openalex.org/W2090074774","https://openalex.org/W2098316235","https://openalex.org/W2131936065","https://openalex.org/W2145932718","https://openalex.org/W2165998261","https://openalex.org/W2316793170","https://openalex.org/W2480284031","https://openalex.org/W6674876893"],"related_works":["https://openalex.org/W4390693411","https://openalex.org/W1516183183","https://openalex.org/W2088984699","https://openalex.org/W2080439181","https://openalex.org/W2054715726","https://openalex.org/W2517959777","https://openalex.org/W2100531771","https://openalex.org/W2098218272","https://openalex.org/W108729680","https://openalex.org/W2011713535"],"abstract_inverted_index":{"The":[0],"locomotor":[1],"controller":[2],"for":[3,34,114],"walking,":[4,115],"running,":[5],"swimming,":[6],"and":[7,30,111,117],"flying":[8,116],"animals":[9],"is":[10,92],"based":[11,84],"on":[12,85],"a":[13,52],"central":[14],"pattern":[15],"generator":[16],"(CPG).":[17],"Models":[18],"of":[19,23,37,46,62,96,106],"CPGs":[20],"as":[21],"systems":[22],"coupled":[24],"nonlinear":[25],"oscillators":[26],"have":[27,31],"been":[28,32],"proposed":[29],"used":[33],"the":[35,44,60,63,93,104],"control":[36],"robots.":[38],"In":[39],"this":[40,91],"paper":[41],"we":[42],"describe":[43],"implementation":[45],"an":[47,67,97],"adaptive":[48,75,98],"CPG":[49,99],"model":[50],"in":[51],"compact,":[53],"custom":[54],"analog":[55],"VLSI":[56],"circuit.":[57],"We":[58],"demonstrate":[59],"function":[61],"chip":[64],"by":[65],"controlling":[66],"underactuated,":[68],"running":[69],"robotic":[70],"leg.":[71],"This":[72,101],"circuit":[73],"has":[74],"properties":[76],"that":[77],"allow":[78],"it":[79],"to":[80],"tune":[81],"its":[82],"behavior":[83],"sensory":[86],"feedback.":[87],"To":[88],"our":[89],"knowledge":[90],"first":[94],"instance":[95],"chip.":[100],"approach":[102],"supports":[103],"construction":[105],"extremely":[107],"inexpensive,":[108],"low":[109],"power":[110],"compact":[112],"controllers":[113],"swimming":[118],"machines.":[119]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}