{"id":"https://openalex.org/W2051620263","doi":"https://doi.org/10.1177/0278364907084980","title":"Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot","display_name":"Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot","publication_year":2008,"publication_date":"2008-01-25","ids":{"openalex":"https://openalex.org/W2051620263","doi":"https://doi.org/10.1177/0278364907084980","mag":"2051620263"},"language":"en","primary_location":{"id":"doi:10.1177/0278364907084980","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907084980","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Tokyo Institute of Technology 2-12-1 Ookayama, Meguro-ku Tokyo, 152-8550, Japan,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology 2-12-1 Ookayama, Meguro-ku Tokyo, 152-8550, Japan,","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025458882","display_name":"Jun Morimoto","orcid":"https://orcid.org/0000-0002-4115-1919"},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Morimoto","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories Computational Brain Project, ICORP Japan Science and Technology Agency 2-2-2 Hikaridai, Seika-cho, Soraku-gun Kyoto, 619-0288, Japan,","ATR Computational Neuroscience Laboratories ComputationalBrain Project, ICORP Japan Science and Technology Agency 2-2-2 Hikaridai,Seika-cho, Soraku-gun Kyoto, 619-0288, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories Computational Brain Project, ICORP Japan Science and Technology Agency 2-2-2 Hikaridai, Seika-cho, Soraku-gun Kyoto, 619-0288, Japan,","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories ComputationalBrain Project, ICORP Japan Science and Technology Agency 2-2-2 Hikaridai,Seika-cho, Soraku-gun Kyoto, 619-0288, Japan#TAB#","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamitsu Matsubara","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories 2-2-2 Hikaridai, Seika-cho, Soraku-gun Kyoto, 619-0288, Japan, , Nara Institute of Science and Technology 8916-5 Takayama-cho, Ikoma-shi Nara, 630-0192, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories 2-2-2 Hikaridai, Seika-cho, Soraku-gun Kyoto, 619-0288, Japan, , Nara Institute of Science and Technology 8916-5 Takayama-cho, Ikoma-shi Nara, 630-0192, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103273860","display_name":"Jun Nakanishi","orcid":"https://orcid.org/0000-0001-9026-6440"},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Nakanishi","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories Computational Brain Project, ICORP Japan Science and Technology Agency 2-2-2 Hikaridai, Seika-cho, Soraku-gun Kyoto, 619-0288, Japan,","ATR Computational Neuroscience Laboratories ComputationalBrain Project, ICORP Japan Science and Technology Agency 2-2-2 Hikaridai,Seika-cho, Soraku-gun Kyoto, 619-0288, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories Computational Brain Project, ICORP Japan Science and Technology Agency 2-2-2 Hikaridai, Seika-cho, Soraku-gun Kyoto, 619-0288, Japan,","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories ComputationalBrain Project, ICORP Japan Science and Technology Agency 2-2-2 Hikaridai,Seika-cho, Soraku-gun Kyoto, 619-0288, Japan#TAB#","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048975019","display_name":"Gordon Cheng","orcid":"https://orcid.org/0000-0003-0770-8717"},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gordon Cheng","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories ICORP, Japan Science and Technology Agency 2-2-2 Hikaridai, Seika-cho, Soraku-gun Kyoto, 619-0288, Japan,","ATR Computational Neuroscience Laboratories ICORP, JapanScience and Technology Agency 2-2-2 Hikaridai, Seika-cho, Soraku-gun Kyoto,619-0288, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories ICORP, Japan Science and Technology Agency 2-2-2 Hikaridai, Seika-cho, Soraku-gun Kyoto, 619-0288, Japan,","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories ICORP, JapanScience and Technology Agency 2-2-2 Hikaridai, Seika-cho, Soraku-gun Kyoto,619-0288, Japan#TAB#","institution_ids":["https://openalex.org/I4210086780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.8775,"has_fulltext":false,"cited_by_count":211,"citation_normalized_percentile":{"value":0.97092938,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"27","issue":"2","first_page":"213","last_page":"228"},"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9843000173568726,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.751880943775177},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7223832011222839},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.635300874710083},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.6048667430877686},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5677273869514465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5656331181526184},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5383376479148865},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5146871209144592},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4643789529800415},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3551502227783203},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3507053852081299},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3441144824028015},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2044498324394226},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11069568991661072},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1087416410446167},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10632631182670593}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.751880943775177},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7223832011222839},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.635300874710083},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.6048667430877686},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5677273869514465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5656331181526184},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5383376479148865},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5146871209144592},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4643789529800415},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3551502227783203},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3507053852081299},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3441144824028015},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2044498324394226},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11069568991661072},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1087416410446167},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10632631182670593},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364907084980","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907084980","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50035161","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100560400","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.49000000953674316}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322443","display_name":"Okinawa Institute of Science and Technology Graduate University","ror":"https://ror.org/02qg15b79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W44140225","https://openalex.org/W44204917","https://openalex.org/W69586344","https://openalex.org/W211269454","https://openalex.org/W1485153986","https://openalex.org/W1521427077","https://openalex.org/W1525562485","https://openalex.org/W1526473519","https://openalex.org/W1559505176","https://openalex.org/W1914373455","https://openalex.org/W1987475868","https://openalex.org/W1994923984","https://openalex.org/W2009303086","https://openalex.org/W2016468033","https://openalex.org/W2017970073","https://openalex.org/W2026036461","https://openalex.org/W2036078241","https://openalex.org/W2045012281","https://openalex.org/W2057952125","https://openalex.org/W2063698547","https://openalex.org/W2109008048","https://openalex.org/W2113501460","https://openalex.org/W2113687557","https://openalex.org/W2125177287","https://openalex.org/W2127188258","https://openalex.org/W2142992961","https://openalex.org/W2144446635","https://openalex.org/W2158678516","https://openalex.org/W2160184782","https://openalex.org/W2163668399","https://openalex.org/W2167210454","https://openalex.org/W2189982084","https://openalex.org/W2478562489","https://openalex.org/W2492794003","https://openalex.org/W2540393540","https://openalex.org/W2546562180","https://openalex.org/W2560674852","https://openalex.org/W2582998992","https://openalex.org/W2764433274","https://openalex.org/W3103182070","https://openalex.org/W3139610437","https://openalex.org/W4231358230"],"related_works":["https://openalex.org/W44204917","https://openalex.org/W2003236838","https://openalex.org/W4312606264","https://openalex.org/W4226082945","https://openalex.org/W2333826992","https://openalex.org/W161140803","https://openalex.org/W2891051118","https://openalex.org/W1965033952","https://openalex.org/W2047787160","https://openalex.org/W2365785480"],"abstract_inverted_index":{"In":[0],"this":[1,25],"paper":[2],"we":[3,120],"describe":[4],"a":[5,9,18,34,69,87,131],"learning":[6,43,110,124],"framework":[7],"for":[8,56,130],"central":[10],"pattern":[11],"generator":[12],"(CPG)-based":[13],"biped":[14,31],"locomotion":[15],"controller":[16,64,78,137],"using":[17],"policy":[19,129],"gradient":[20],"method.":[21],"Our":[22],"goals":[23],"in":[24,80,90],"study":[26],"are":[27],"to":[28,39,116,134],"achieve":[29],"CPG-based":[30],"walking":[32,85,101],"with":[33,45,86,126],"3D":[35],"hardware":[36,97,132],"humanoid":[37],"and":[38,76,96,103],"develop":[40],"an":[41,61,122,127],"efficient":[42],"algorithm":[44,111],"CPG":[46],"by":[47,73],"reducing":[48],"the":[49,52,77,91,100,109,136],"dimensionality":[50],"of":[51,114],"state":[53],"space":[54],"used":[55],"learning.":[57],"We":[58],"demonstrate":[59],"that":[60,108],"appropriate":[62],"feedback":[63],"can":[65],"be":[66],"acquired":[67],"within":[68,138],"few":[70],"thousand":[71],"trials":[72],"numerical":[74,81],"simulations":[75,95],"obtained":[79],"simulation":[82],"achieves":[83],"stable":[84],"physical":[88],"robot":[89,133],"real":[92],"world.":[93],"Numerical":[94],"experiments":[98],"evaluate":[99],"velocity":[102],"stability.":[104],"The":[105],"results":[106],"suggest":[107],"is":[112],"capable":[113],"adapting":[115],"environmental":[117],"changes.":[118],"Furthermore,":[119],"present":[121],"online":[123],"scheme":[125],"initial":[128],"improve":[135],"200":[139],"iterations.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":16},{"year":2016,"cited_by_count":16},{"year":2015,"cited_by_count":16},{"year":2014,"cited_by_count":18},{"year":2013,"cited_by_count":16},{"year":2012,"cited_by_count":18}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}