{"id":"https://openalex.org/W4405481539","doi":"https://doi.org/10.1145/3702468.3702472","title":"Research on Biped Robot Motion Control and Gait Based on CPG","display_name":"Research on Biped Robot Motion Control and Gait Based on CPG","publication_year":2024,"publication_date":"2024-09-12","ids":{"openalex":"https://openalex.org/W4405481539","doi":"https://doi.org/10.1145/3702468.3702472"},"language":"en","primary_location":{"id":"doi:10.1145/3702468.3702472","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3702468.3702472","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 7th International Conference on Robot Systems and Applications","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":null,"display_name":"Ruilin Chu","orcid":"https://orcid.org/0009-0008-0599-1874"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruilin Chu","raw_affiliation_strings":["School of Automation, Southeast University, Nan Jing, China"],"raw_orcid":"https://orcid.org/0009-0008-0599-1874","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nan Jing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108281315","display_name":"Yu Miao","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miao Yu","raw_affiliation_strings":["Chien-Shiung Wu College, Southeast University, Nan Jing, China"],"raw_orcid":"https://orcid.org/0009-0005-6656-4110","affiliations":[{"raw_affiliation_string":"Chien-Shiung Wu College, Southeast University, Nan Jing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112128171","display_name":"Yingzi Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingzi Tan","raw_affiliation_strings":["School of Automation, Southeast University, Nan Jing, China"],"raw_orcid":"https://orcid.org/0009-0000-6422-4108","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nan Jing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20108743,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.991599977016449,"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":0.9606000185012817,"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/computer-science","display_name":"Computer science","score":0.6534569263458252},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6400637030601501},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5488690137863159},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5176530480384827},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5055997371673584},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.46896257996559143},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41808611154556274},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.38265135884284973},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3083651661872864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2358134686946869},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09068557620048523},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07379734516143799}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6534569263458252},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6400637030601501},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5488690137863159},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5176530480384827},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5055997371673584},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.46896257996559143},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41808611154556274},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.38265135884284973},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3083651661872864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2358134686946869},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09068557620048523},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07379734516143799},{"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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3702468.3702472","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3702468.3702472","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 7th International Conference on Robot Systems and Applications","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W583052259","https://openalex.org/W2037729465","https://openalex.org/W2046127725","https://openalex.org/W2799314880","https://openalex.org/W4386821330"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W2979398413","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1532677580"],"abstract_inverted_index":{"To":[0],"address":[1],"the":[2,9,18,31,45,57,67,72,90,94,100,113,133,147,157,177,182],"limitations":[3],"and":[4,41,50,62,79,98,104,130,139,169,179],"instability":[5],"against":[6,166],"disturbances":[7],"of":[8,12,75,132,156,159,181],"walking":[10,137],"gait":[11,118],"existing":[13],"bipedal":[14,134],"robots":[15],"based":[16,29,111],"on":[17,30,112],"inverted":[19,47],"pendulum":[20,48],"model,":[21,49],"this":[22,54],"paper":[23],"proposes":[24],"a":[25,123,152],"new":[26,148],"control":[27,184],"method":[28,55],"Central":[32],"Pattern":[33],"Generator":[34],"(CPG)":[35],"model.":[36],"By":[37],"incorporating":[38],"Hopf":[39],"oscillators":[40],"Kuramoto":[42],"terms":[43],"into":[44],"original":[46],"by":[51],"adjusting":[52],"parameters,":[53],"enables":[56],"controller":[58,92],"to":[59,121],"produce":[60,170],"stable":[61,78],"gait-periodic":[63],"oscillations":[64],"that":[65,146],"match":[66],"robot's":[68,73,95,101],"stride,":[69],"thereby":[70],"making":[71],"center":[74,158],"gravity":[76,160],"more":[77,164],"enhancing":[80],"its":[81],"disturbance":[82],"resistance":[83],"during":[84,161],"walking.":[85],"This":[86,175],"study":[87],"also":[88],"connects":[89],"improved":[91],"with":[93],"joint":[96],"motors":[97],"adjusts":[99],"leg-lifting":[102],"height":[103],"foot":[105],"trajectory":[106],"using":[107],"Bezier":[108],"curve":[109],"interpolation,":[110],"Zero":[114],"Moment":[115],"Point":[116],"(ZMP)":[117],"generation":[119],"method,":[120],"plan":[122],"complete":[124],"robot":[125,136],"gait.":[126],"Finally,":[127],"through":[128],"simulations":[129],"experiments":[131],"humanoid":[135],"continuously":[138],"under":[140],"sinusoidal":[141],"disturbances,":[142,168],"it":[143],"was":[144],"found":[145],"model":[149],"can":[150],"maintain":[151],"smaller":[153],"fluctuation":[154],"range":[155],"walking,":[162],"stabilize":[163],"quickly":[165],"external":[167],"less":[171],"noise":[172],"when":[173],"disturbed.":[174],"verifies":[176],"feasibility":[178],"effectiveness":[180],"proposed":[183],"strategy.":[185]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
