{"id":"https://openalex.org/W2083204658","doi":"https://doi.org/10.1142/s0219878909001771","title":"A NOVEL CPG WITH PROPRIOCEPTION AND ITS APPLICATION ON THE LOCOMOTION CONTROL OF QUADRUPED ROBOT","display_name":"A NOVEL CPG WITH PROPRIOCEPTION AND ITS APPLICATION ON THE LOCOMOTION CONTROL OF QUADRUPED ROBOT","publication_year":2009,"publication_date":"2009-03-01","ids":{"openalex":"https://openalex.org/W2083204658","doi":"https://doi.org/10.1142/s0219878909001771","mag":"2083204658"},"language":"en","primary_location":{"id":"doi:10.1142/s0219878909001771","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219878909001771","pdf_url":null,"source":{"id":"https://openalex.org/S186208447","display_name":"International Journal of Information Acquisition","issn_l":"0219-8789","issn":["0219-8789","1793-6985"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Information Acquisition","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/A5021631382","display_name":"Lei Sun","orcid":"https://orcid.org/0000-0002-8886-9012"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]},{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"LEI SUN","raw_affiliation_strings":["Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China","Department of Automation, University of Science and Technology of China, Hefei, Anhui Province, China"],"affiliations":[{"raw_affiliation_string":"Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"MAX Q.-H. MENG","raw_affiliation_strings":["Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424142","display_name":"Shuai Li","orcid":"https://orcid.org/0009-0006-3152-6437"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"SHUAI LI","raw_affiliation_strings":["Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China","Department of Automation, University of Science and Technology of China, Hefei, Anhui Province, China"],"affiliations":[{"raw_affiliation_string":"Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009978941","display_name":"Huawei Liang","orcid":"https://orcid.org/0000-0003-1581-304X"},"institutions":[{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"HUAWEI LIANG","raw_affiliation_strings":["Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China"],"affiliations":[{"raw_affiliation_string":"Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101517780","display_name":"Tao Mei","orcid":"https://orcid.org/0000-0002-9683-3052"},"institutions":[{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"TAO MEI","raw_affiliation_strings":["Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China"],"affiliations":[{"raw_affiliation_string":"Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021631382"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210099079","https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.14643975,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"06","issue":"01","first_page":"33","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.991599977016449,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9883000254631042,"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":0.7820148468017578},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7703414559364319},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7093607783317566},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.696674644947052},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6881193518638611},{"id":"https://openalex.org/keywords/proprioception","display_name":"Proprioception","score":0.6790479421615601},{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.5991230607032776},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.449165403842926},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.42058518528938293},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40668341517448425},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39371004700660706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36510932445526123},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3581138849258423},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.11874788999557495},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.07757091522216797},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07222118973731995},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06367954611778259}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.7820148468017578},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7703414559364319},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7093607783317566},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.696674644947052},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6881193518638611},{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.6790479421615601},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.5991230607032776},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.449165403842926},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.42058518528938293},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40668341517448425},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39371004700660706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36510932445526123},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3581138849258423},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.11874788999557495},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.07757091522216797},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07222118973731995},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06367954611778259},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C190727270","wikidata":"https://www.wikidata.org/wiki/Q874745","display_name":"DNA methylation","level":4,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"id":"https://openalex.org/C150194340","wikidata":"https://www.wikidata.org/wiki/Q26972","display_name":"Gene expression","level":3,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219878909001771","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219878909001771","pdf_url":null,"source":{"id":"https://openalex.org/S186208447","display_name":"International Journal of Information Acquisition","issn_l":"0219-8789","issn":["0219-8789","1793-6985"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Information Acquisition","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1563738110","https://openalex.org/W1988274707","https://openalex.org/W2009793053","https://openalex.org/W2057952125","https://openalex.org/W2075674413","https://openalex.org/W2093643893","https://openalex.org/W2100245847","https://openalex.org/W2116712719","https://openalex.org/W2117949838","https://openalex.org/W2140012811","https://openalex.org/W2156001151","https://openalex.org/W2261389156"],"related_works":["https://openalex.org/W4253813669","https://openalex.org/W2053711990","https://openalex.org/W2014373404","https://openalex.org/W2045800613","https://openalex.org/W193314751","https://openalex.org/W2298182222","https://openalex.org/W1566120828","https://openalex.org/W2151114827","https://openalex.org/W2764257870","https://openalex.org/W2002972805"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,124],"novel":[4],"central":[5],"pattern":[6],"generator":[7],"(CPG)":[8],"model":[9],"with":[10,59],"proprioceptive":[11,72],"mechanism":[12],"and":[13,36,48,92,113],"the":[14,22,26,31,34,39,45,55,60,67,76,79,85,90,94,97,103,108,120,128,131],"dynamic":[15],"connectivity":[16],"mechanism.":[17],"It":[18],"not":[19],"only":[20],"contains":[21,30],"sensory":[23,50],"information":[24,32,47],"of":[25,33,41,54,62,96,123,130],"environment":[27],"but":[28],"also":[29],"actuators":[35,46,101],"automatically":[37],"tunes":[38],"parameters":[40],"CPG":[42,63,68,86],"corresponding":[43],"to":[44,66,69,88],"inner":[49],"information.":[51],"The":[52],"position":[53],"joints":[56,99],"linked":[57],"directly":[58],"output":[61,87],"is":[64,115],"introduced":[65],"find":[70],"its":[71],"system,":[73],"spontaneously":[74],"making":[75],"robot":[77,104,126],"realize":[78],"actuator":[80],"working":[81],"status,":[82],"further":[83],"changing":[84],"fit":[89],"change":[91],"decrease":[93],"influence":[95],"problematic":[98],"or":[100],"on":[102,119],"being":[105],"controlled.":[106],"So":[107],"damage":[109],"would":[110],"be":[111],"avoided":[112],"self-protection":[114],"implemented.":[116],"Its":[117],"application":[118],"locomotion":[121],"control":[122],"quadruped":[125],"demonstrates":[127],"effectiveness":[129],"proposed":[132],"approach.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
