{"id":"https://openalex.org/W2969223576","doi":"https://doi.org/10.3390/s19173705","title":"CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition","display_name":"CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition","publication_year":2019,"publication_date":"2019-08-26","ids":{"openalex":"https://openalex.org/W2969223576","doi":"https://doi.org/10.3390/s19173705","mag":"2969223576","pmid":"https://pubmed.ncbi.nlm.nih.gov/31455002"},"language":"en","primary_location":{"id":"doi:10.3390/s19173705","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19173705","pdf_url":null,"source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/s19173705","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101663472","display_name":"Long Bai","orcid":"https://orcid.org/0000-0002-9410-5107"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Long Bai","raw_affiliation_strings":["College of Mechanical Engineering, Chongqing University, Chongqing 400044, China","State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China"],"raw_orcid":"https://orcid.org/0000-0002-9410-5107","affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Chongqing University, Chongqing 400044, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074371043","display_name":"Hao Hu","orcid":"https://orcid.org/0000-0002-3440-1000"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Hu","raw_affiliation_strings":["College of Mechanical Engineering, Chongqing University, Chongqing 400044, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Chongqing University, Chongqing 400044, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100649381","display_name":"Xiaohong Chen","orcid":"https://orcid.org/0000-0002-5176-2668"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohong Chen","raw_affiliation_strings":["College of Mechanical Engineering, Chongqing University, Chongqing 400044, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Chongqing University, Chongqing 400044, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019009088","display_name":"Yuanxi Sun","orcid":"https://orcid.org/0000-0003-0054-1053"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanxi Sun","raw_affiliation_strings":["College of Mechanical Engineering, Chongqing University, Chongqing 400044, China"],"raw_orcid":"https://orcid.org/0000-0003-0054-1053","affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Chongqing University, Chongqing 400044, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065722879","display_name":"Chaoyang Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyang Ma","raw_affiliation_strings":["College of Mechanical Engineering, Chongqing University, Chongqing 400044, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Chongqing University, Chongqing 400044, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030673454","display_name":"Yuanhong Zhong","orcid":"https://orcid.org/0000-0001-5689-1146"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanhong Zhong","raw_affiliation_strings":["School of Microelectronics and Communication of Engineering, Chongqing 400044, China"],"raw_orcid":"https://orcid.org/0000-0001-5689-1146","affiliations":[{"raw_affiliation_string":"School of Microelectronics and Communication of Engineering, Chongqing 400044, China","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101663472"],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.1294,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.86795819,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"19","issue":"17","first_page":"3705","last_page":"3705"},"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":0.9976000189781189,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9861000180244446,"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/hexapod","display_name":"Hexapod","score":0.9756588935852051},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.853715181350708},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4960711896419525},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.48441627621650696},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.45265454053878784},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43021515011787415},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4049065411090851},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3509247899055481},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.3198431730270386},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.20434579253196716},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16262894868850708},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1518961787223816},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14187228679656982},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.08922800421714783}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9756588935852051},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.853715181350708},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4960711896419525},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.48441627621650696},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.45265454053878784},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43021515011787415},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4049065411090851},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3509247899055481},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.3198431730270386},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.20434579253196716},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16262894868850708},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1518961787223816},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14187228679656982},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.08922800421714783},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19173705","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19173705","pdf_url":null,"source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:31455002","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31455002","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:30d8b518aaad4e35a743d719fc62d4f5","is_oa":true,"landing_page_url":"https://doaj.org/article/30d8b518aaad4e35a743d719fc62d4f5","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 19, Iss 17, p 3705 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/17/3705/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19173705","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6749326","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6749326","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19173705","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19173705","pdf_url":null,"source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1970277583","display_name":null,"funder_award_id":"2019CDCGJX219","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2834583088","display_name":null,"funder_award_id":"51975070","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5950585546","display_name":null,"funder_award_id":"2018CDGFJX0022","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1146793508","https://openalex.org/W1263895330","https://openalex.org/W1738827650","https://openalex.org/W1796689004","https://openalex.org/W1822001265","https://openalex.org/W1982902701","https://openalex.org/W1999052969","https://openalex.org/W2002560324","https://openalex.org/W2005805981","https://openalex.org/W2013876510","https://openalex.org/W2027394111","https://openalex.org/W2036078241","https://openalex.org/W2038927757","https://openalex.org/W2041751785","https://openalex.org/W2045640807","https://openalex.org/W2046127725","https://openalex.org/W2050426505","https://openalex.org/W2051620263","https://openalex.org/W2054186704","https://openalex.org/W2057662595","https://openalex.org/W2070701568","https://openalex.org/W2075301351","https://openalex.org/W2077150991","https://openalex.org/W2081700430","https://openalex.org/W2099746927","https://openalex.org/W2102069286","https://openalex.org/W2102602081","https://openalex.org/W2129287493","https://openalex.org/W2152722082","https://openalex.org/W2156174987","https://openalex.org/W2158494404","https://openalex.org/W2320534656","https://openalex.org/W2325810552","https://openalex.org/W2346062164","https://openalex.org/W2400736277","https://openalex.org/W2541917213","https://openalex.org/W2609932076","https://openalex.org/W2618496359","https://openalex.org/W2790603666","https://openalex.org/W3150785007","https://openalex.org/W4250488312","https://openalex.org/W6637964581","https://openalex.org/W6681720332","https://openalex.org/W6701216428"],"related_works":["https://openalex.org/W4318316102","https://openalex.org/W2060252589","https://openalex.org/W2630004860","https://openalex.org/W827079712","https://openalex.org/W2390631805","https://openalex.org/W1995781834","https://openalex.org/W2803913909","https://openalex.org/W2729676947","https://openalex.org/W4379933302","https://openalex.org/W2328573683"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,38,55,60],"novel":[4],"CPG-based":[5,131],"gait":[6,17,33,62,70,74,82,94,122],"generation":[7],"of":[8,25,128],"the":[9,23,26,32,45,86,113,126,129],"curved-leg":[10],"hexapod":[11,87,132],"robot":[12,88,133],"that":[13,112],"can":[14,49,116],"enable":[15],"smooth":[16,61,69,118],"transitions":[18,34,95],"between":[19],"multi-mode":[20],"gaits.":[21],"First,":[22],"locomotion":[24],"curved":[27],"leg":[28],"and":[29,73,80,92,97,100,103,119],"instability":[30],"during":[31],"are":[35,83,107],"analyzed.":[36],"Then,":[37],"modified":[39],"Hopf":[40],"oscillator":[41],"is":[42,65],"applied":[43],"in":[44],"CPG":[46],"control,":[47],"which":[48,124],"realize":[50],"multiple":[51],"gaits":[52],"by":[53],"adjusting":[54],"simple":[56],"parameter.":[57],"In":[58],"addition,":[59],"switching":[63],"method":[64,115],"also":[66],"proposed":[67,114,130],"via":[68],"transition":[71],"functions":[72],"planning.":[75],"Tripod":[76],"gait,":[77,79],"quadruped":[78],"wave":[81],"planned":[84],"for":[85],"to":[89],"achieve":[90,117],"quick":[91],"stable":[93],"smoothly":[96],"continuously.":[98],"MATLAB":[99],"ADAMS":[101],"simulations":[102],"corresponding":[104],"practical":[105],"experiments":[106],"conducted.":[108],"The":[109],"results":[110],"show":[111],"continuous":[120],"mutual":[121],"transitions,":[123],"proves":[125],"effectiveness":[127],"control.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":8}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
