{"id":"https://openalex.org/W1742093738","doi":"https://doi.org/10.2478/s13230-012-0019-y","title":"Evolution of central pattern generators for the control of a five-link bipedal walking mechanism","display_name":"Evolution of central pattern generators for the control of a five-link bipedal walking mechanism","publication_year":2012,"publication_date":"2012-03-01","ids":{"openalex":"https://openalex.org/W1742093738","doi":"https://doi.org/10.2478/s13230-012-0019-y","mag":"1742093738"},"language":"en","primary_location":{"id":"doi:10.2478/s13230-012-0019-y","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-012-0019-y","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0019-y/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0019-y/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"At\u0131l\u0131m G\u00fcne\u015f Baydin","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"At\u0131l\u0131m G\u00fcne\u015f Baydin","raw_affiliation_strings":["Complex Adaptive Systems, Department of Applied Physics, Chalmers University of Technology, SE-412 96 G\u00f6teborg, Sweden"],"affiliations":[{"raw_affiliation_string":"Complex Adaptive Systems, Department of Applied Physics, Chalmers University of Technology, SE-412 96 G\u00f6teborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I66862912"],"apc_list":{"value":1000,"currency":"EUR","value_usd":1078},"apc_paid":{"value":1000,"currency":"EUR","value_usd":1078},"fwci":1.2406,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.77989646,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":"1","first_page":"45","last_page":"53"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9567000269889832,"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":0.9567000269889832,"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":0.009399999864399433,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.005100000184029341,"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":0.8381999731063843},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6431999802589417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6176000237464905},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.608299970626831},{"id":"https://openalex.org/keywords/neurophysiology","display_name":"Neurophysiology","score":0.5396999716758728},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4546000063419342},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.42719998955726624},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.4169999957084656},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.4047999978065491}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8381999731063843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6509000062942505},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6431999802589417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6176000237464905},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.608299970626831},{"id":"https://openalex.org/C152478114","wikidata":"https://www.wikidata.org/wiki/Q660910","display_name":"Neurophysiology","level":2,"score":0.5396999716758728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4839000105857849},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4546000063419342},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.42719998955726624},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.4169999957084656},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.4047999978065491},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.396699994802475},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3806999921798706},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.34869998693466187},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.34060001373291016},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.3212999999523163},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31679999828338623},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3052000105381012},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.30300000309944153},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3010999858379364},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3009999990463257},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.2849000096321106},{"id":"https://openalex.org/C108426073","wikidata":"https://www.wikidata.org/wiki/Q864512","display_name":"Biocybernetics","level":3,"score":0.27239999175071716},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2619999945163727},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C104122410","wikidata":"https://www.wikidata.org/wiki/Q1416406","display_name":"Network model","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C55105296","wikidata":"https://www.wikidata.org/wiki/Q841382","display_name":"Interaction network","level":3,"score":0.25119999051094055}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.2478/s13230-012-0019-y","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-012-0019-y","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0019-y/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:0801.0830","is_oa":true,"landing_page_url":"http://arxiv.org/abs/0801.0830","pdf_url":"https://arxiv.org/pdf/0801.0830","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:oai:doaj.org/article:56a9d0a4d61c44f6874ea6bfd68f3f1d","is_oa":true,"landing_page_url":"https://doaj.org/article/56a9d0a4d61c44f6874ea6bfd68f3f1d","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Paladyn, Vol 3, Iss 1, Pp 45-53 (2012)","raw_type":"article"},{"id":"pmh:oai:research.chalmers.se:533110","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/533110","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"doi:10.2478/s13230-012-0019-y","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-012-0019-y","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0019-y/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321523","display_name":"Chalmers Tekniska H\u00f6gskola","ror":"https://ror.org/040wg7k59"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1742093738.pdf","grobid_xml":"https://content.openalex.org/works/W1742093738.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W124232821","https://openalex.org/W1484218370","https://openalex.org/W1784796383","https://openalex.org/W1964231721","https://openalex.org/W1979775407","https://openalex.org/W1988407123","https://openalex.org/W1996763811","https://openalex.org/W2017970073","https://openalex.org/W2023482630","https://openalex.org/W2030263633","https://openalex.org/W2033226680","https://openalex.org/W2050426505","https://openalex.org/W2057952125","https://openalex.org/W2085978624","https://openalex.org/W2086587468","https://openalex.org/W2098906827","https://openalex.org/W2103447784","https://openalex.org/W2104938502","https://openalex.org/W2108411677","https://openalex.org/W2120166307","https://openalex.org/W2122107405","https://openalex.org/W2128068001","https://openalex.org/W2133859362","https://openalex.org/W2135263543","https://openalex.org/W2144834630","https://openalex.org/W2155846001","https://openalex.org/W2156174987","https://openalex.org/W2164723986","https://openalex.org/W2169109050","https://openalex.org/W2334532982","https://openalex.org/W2518914040","https://openalex.org/W6658095814","https://openalex.org/W6684287842","https://openalex.org/W6684833632"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Central":[1],"pattern":[2],"generators":[3],"(CPGs),":[4],"with":[5,84,91],"a":[6,12,37,58,75,88,99,135,155],"basis":[7],"is":[8,42,131,148],"neurophysiological":[9],"studies,":[10],"are":[11,25,34,61,78],"type":[13],"of":[14,20,74,158],"neural":[15],"network":[16,77,130],"for":[17,36,53,57,151],"the":[18,45,69,126,143],"generation":[19],"rhythmic":[21],"motion.":[22],"While":[23],"CPGs":[24],"being":[26],"increasingly":[27],"used":[28],"in":[29,44,87,165],"robot":[30,124],"control,":[31],"most":[32],"applications":[33],"hand-tuned":[35],"specific":[38],"task":[39,60],"and":[40,50,71,108],"it":[41],"acknowledged":[43],"field":[46],"that":[47,142],"generic":[48],"methods":[49],"design":[51],"principles":[52],"creating":[54],"individual":[55],"networks":[56,159],"given":[59],"lacking.":[62],"This":[63],"study":[64],"presents":[65],"an":[66,81],"approach":[67],"where":[68],"connectivity":[70],"oscillatory":[72],"parameters":[73],"CPG":[76,129,146],"determined":[79],"by":[80],"evolutionary":[82],"algorithm":[83],"fitness":[85,166],"evaluations":[86],"realistic":[89],"simulation":[90,117],"accurate":[92],"physics.":[93],"We":[94],"apply":[95],"this":[96],"technique":[97],"to":[98,104,112,122,163],"five-link":[100],"planar":[101],"walking":[102],"mechanism":[103],"demonstrate":[105],"its":[106],"feasibility":[107],"performance.":[109],"In":[110],"addition,":[111],"see":[113],"whether":[114],"results":[115,139],"from":[116],"can":[118],"be":[119],"acceptably":[120],"transferred":[121],"real":[123,136],"hardware,":[125],"best":[127],"evolved":[128],"also":[132,140],"tested":[133],"on":[134],"mechanism.":[137],"Our":[138],"confirm":[141],"biologically":[144],"inspired":[145],"model":[147],"well":[149],"suited":[150],"legged":[152],"locomotion,":[153],"since":[154],"diverse":[156],"manifestation":[157],"have":[160],"been":[161],"observed":[162],"succeed":[164],"simulations":[167],"during":[168],"evolution.":[169]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2013,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2016-06-24T00:00:00"}