Digital pattern generator

Learning from demonstration and adaptation of biped locomotion

Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato

Citations: 400 • 2004

Online Walking Motion Generation with Automatic Footstep Placement

Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja Mombaur, Moritz Diehl

Citations: 330 • 2010

A realtime pattern generator for biped walking

Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi, Hirohisa Hirukawa

Citations: 305 • 2003

A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping

Dai Owaki, Akio Ishiguro

Citations: 216 • 2017

Simple robot suggests physical interlimb communication is essential for quadruped walking

Dai Owaki, Takeshi Kano, K. Nagasawa, Atsushi Tero, Akio Ishiguro

Citations: 189 • 2012

AmphiBot II: An Amphibious Snake Robot that Crawls and Swims using a Central Pattern Generator

Alessandro Crespi, Auke Jan Ijspeert

Citations: 185 • 2006

Biped Walking Pattern Generator allowing Auxiliary ZMP Control

Shuuji Kajita, Mitsuharu Morisawa, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa

Citations: 178 • 2006

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Auke Jan Ijspeert, Alessandro Crespi

Citations: 150 • 2007

Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization

Alexander Sproewitz, Rico Moeckel, Jérôme Maye, Auke Jan Ijspeert

Citations: 134 • 2008

Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO

Gen Endo, Jun Nakanishi, Jun Morimoto, Gordon Cheng

Citations: 124 • 2006

Three dimensional bipedal stepping motion using neural oscillators-towards humanoid motion in the real world

Seiichi Miyakoshi, Gentaro Taga, Yasuo Kuniyoshi, Akihiko Nagakubo

Citations: 121 • 2002

CPG-based control of serpentine locomotion of a snake-like robot

Xiaodong Wu, Shugen Ma

Citations: 106 • 2010

Learning CPG-based biped locomotion with a policy gradient method

Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, Kenji Doya

Citations: 98 • 2006

A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control

Maximilien Naveau, Manuel Kudruss, Olivier Stasse, Christian Kirches, Katja Mombaur, Philippe Souères

Citations: 97 • 2016

Wave CPG model for autonomous decentralized multi-legged robot: Gait generation and walking speed control

Shinkichi Inagaki, Hideo Yuasa, Takanori Suzuki, Tamio Arai

Citations: 91 • 2005

Programmable coupled oscillators for synchronized locomotion

Sourav Dutta, Abhinav Parihar, Abhishek Khanna, Jorge Gómez, Wriddhi Chakraborty, Matthew Jerry, Benjamin Grisafe, Arijit Raychowdhury, Suman Datta

Citations: 90 • 2019

Multi-layered multi-pattern CPG for adaptive locomotion of humanoid robots

John Nassour, Patrick Hénaff, Fethi Benouezdou, Gordon Cheng

Citations: 88 • 2014

A modular artificial neural net for controlling a six-legged walking system

H. Cruse, C. Bartling, Gennady Cymbalyuk, J. Dean, M. Dreifert

Citations: 86 • 1995

Distributed neural networks for controlling human locomotion

Yuri P. Ivanenko, R. E. Poppele, Francesco Lacquaniti

Citations: 85 • 2008

A Pattern Generator of Humanoid Robots Walking on a Rough Terrain

Hirohisa Hirukawa, Shizuko Hattori, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Mitsuharu Morisawa, Shin’ichiro Nakaoka

Citations: 84 • 2007