{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,4]],"date-time":"2025-09-04T14:31:16Z","timestamp":1756996276310,"version":"3.40.3"},"publisher-location":"Cham","reference-count":18,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030891763"},{"type":"electronic","value":"9783030891770"}],"license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021]]},"DOI":"10.1007\/978-3-030-89177-0_3","type":"book-chapter","created":{"date-parts":[[2021,10,30]],"date-time":"2021-10-30T06:18:05Z","timestamp":1635574685000},"page":"25-35","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["CPG-Actor: Reinforcement Learning for\u00a0Central Pattern Generators"],"prefix":"10.1007","author":[{"given":"Luigi","family":"Campanaro","sequence":"first","affiliation":[]},{"given":"Siddhant","family":"Gangapurwala","sequence":"additional","affiliation":[]},{"given":"Daniele","family":"De Martini","sequence":"additional","affiliation":[]},{"given":"Wolfgang","family":"Merkt","sequence":"additional","affiliation":[]},{"given":"Ioannis","family":"Havoutis","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,10,31]]},"reference":[{"issue":"3","key":"3_CR1","doi-asserted-by":"publisher","first-page":"2261","DOI":"10.1109\/LRA.2018.2794620","volume":"3","author":"CD Bellicoso","year":"2018","unstructured":"Bellicoso, C.D., Jenelten, F., Gehring, C., Hutter, M.: Dynamic locomotion through online nonlinear motion optimization for quadrupedal robots. IEEE Robot. Autom. Lett. 3(3), 2261\u20132268 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"3_CR2","doi-asserted-by":"crossref","unstructured":"Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., Hutter, M.: Learning quadrupedal locomotion over challenging terrain. Sci. Rob. 5(47) (2020). https:\/\/robotics.sciencemag.org\/content\/5\/47\/eabc5986","DOI":"10.1126\/scirobotics.abc5986"},{"key":"3_CR3","doi-asserted-by":"crossref","unstructured":"Hutter, M., et al.: Anymal - a highly mobile and dynamic quadrupedal robot. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 38\u201344 (2016)","DOI":"10.1109\/IROS.2016.7758092"},{"key":"3_CR4","doi-asserted-by":"crossref","unstructured":"Righetti, L., Ijspeert, A.J.: Pattern generators with sensory feedback for the control of quadruped locomotion. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 819\u2013824, May 2008","DOI":"10.1109\/ROBOT.2008.4543306"},{"key":"3_CR5","doi-asserted-by":"crossref","unstructured":"Hwangbo, J., et al.: Learning agile and dynamic motor skills for legged robots. Sci. Rob. 4(26) (2019). https:\/\/robotics.sciencemag.org\/content\/4\/26\/eaau5872","DOI":"10.1126\/scirobotics.aau5872"},{"issue":"4","key":"3_CR6","doi-asserted-by":"publisher","first-page":"642","DOI":"10.1016\/j.neunet.2008.03.014","volume":"21","author":"AJ Ijspeert","year":"2008","unstructured":"Ijspeert, A.J.: Central pattern generators for locomotion control in animals and robots: a review. Neural Netw. 21(4), 642\u2013653 (2008)","journal-title":"Neural Netw."},{"key":"3_CR7","doi-asserted-by":"crossref","unstructured":"Bonardi, S., et al.: Automatic generation of reduced CPG control networks for locomotion of arbitrary modular robot structures. In: Proceedings of the Robotics: Science and Systems (RSS) (2014)","DOI":"10.15607\/RSS.2014.X.004"},{"key":"3_CR8","doi-asserted-by":"crossref","unstructured":"Gay, S., Santos-Victor, J., Ijspeert, A.: Learning robot gait stability using neural networks as sensory feedback function for central pattern generators. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 194\u2013201 (2013)","DOI":"10.1109\/IROS.2013.6696353"},{"key":"3_CR9","doi-asserted-by":"crossref","unstructured":"Ajallooeian, M., Gay, S., Tuleu, A., Spr\u00f6witz, A., Ijspeert, A.J.: Modular control of limit cycle locomotion over unperceived rough terrain. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, pp. 3390\u20133397 (2013)","DOI":"10.1109\/IROS.2013.6696839"},{"issue":"3","key":"3_CR10","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1007\/s11370-019-00279-6","volume":"12","author":"Y Cho","year":"2019","unstructured":"Cho, Y., Manzoor, S., Choi, Y.: Adaptation to environmental change using reinforcement learning for robotic salamander. Intell. Serv. Robot. 12(3), 209\u2013218 (2019). https:\/\/doi.org\/10.1007\/s11370-019-00279-6","journal-title":"Intell. Serv. Robot."},{"key":"3_CR11","doi-asserted-by":"crossref","unstructured":"Ciancio, A.L., Zollo, L., Guglielmelli, E., Caligiore, D., Baldassarre, G.: Hierarchical reinforcement learning and central pattern generators for modeling the development of rhythmic manipulation skills. In: 2011 IEEE International Conference on Development and Learning (ICDL), vol. 2, pp. 1\u20138 (2011)","DOI":"10.1109\/DEVLRN.2011.6037370"},{"issue":"6","key":"3_CR12","doi-asserted-by":"publisher","first-page":"723","DOI":"10.1016\/j.neunet.2007.01.002","volume":"20","author":"Y Nakamura","year":"2007","unstructured":"Nakamura, Y., Mori, T., Sato, M., Ishii, S.: Reinforcement learning for a biped robot based on a CPG-actor-critic method. Neural Netw. 20(6), 723\u2013735 (2007)","journal-title":"Neural Netw."},{"key":"3_CR13","doi-asserted-by":"crossref","unstructured":"Fukunaga, S., Nakamura, Y., Aso, K., Ishii, S.: Reinforcement learning for a snake-like robot controlled by a central pattern generator. In: Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA), vol. 2, pp. 909\u2013914 (2004)","DOI":"10.1109\/RAMECH.2004.1438039"},{"key":"3_CR14","unstructured":"Sutton, R.S., Barto, A.G.: Reinforcement Learning: An Introduction, 2nd edn. The MIT Press (2018). http:\/\/incompleteideas.net\/book\/the-book-2nd.html"},{"key":"3_CR15","unstructured":"Schulman, J., Wolski, F., Dhariwal, P., Radford, A., Klimov, O.: Proximal policy optimization algorithms. CoRR, vol. abs\/1707.06347 (2017). http:\/\/arxiv.org\/abs\/1707.06347"},{"issue":"5817","key":"3_CR16","doi-asserted-by":"publisher","first-page":"1416","DOI":"10.1126\/science.1138353","volume":"315","author":"AJ Ijspeert","year":"2007","unstructured":"Ijspeert, A.J., Crespi, A., Ryczko, D., Cabelguen, J.-M.: From swimming to walking with a salamander robot driven by a spinal cord model. Science 315(5817), 1416\u20131420 (2007)","journal-title":"Science"},{"key":"3_CR17","unstructured":"Brockman, G., et al.: OpenAI Gym (2016). http:\/\/arxiv.org\/abs\/1606.01540"},{"key":"3_CR18","unstructured":"Coumans, E., Bai, Y.: Pybullet, a python module for physics simulation for games, robotics and machine learning (2016\u20132020). http:\/\/pybullet.org"}],"container-title":["Lecture Notes in Computer Science","Towards Autonomous Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-89177-0_3","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,11]],"date-time":"2024-09-11T03:22:35Z","timestamp":1726024955000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-89177-0_3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"ISBN":["9783030891763","9783030891770"],"references-count":18,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-89177-0_3","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2021]]},"assertion":[{"value":"31 October 2021","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"TAROS","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Annual Conference Towards Autonomous Robotic Systems","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Lincoln","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"United Kingdom","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2021","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"8 September 2021","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"10 September 2021","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"taros2021","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/lcas.lincoln.ac.uk\/wp\/taros-2021\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Single-blind","order":1,"name":"type","label":"Type","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"EasyChair","order":2,"name":"conference_management_system","label":"Conference Management System","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"66","order":3,"name":"number_of_submissions_sent_for_review","label":"Number of Submissions Sent for Review","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"45","order":4,"name":"number_of_full_papers_accepted","label":"Number of Full Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"0","order":5,"name":"number_of_short_papers_accepted","label":"Number of Short Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"68% - The value is computed by the equation \"Number of Full Papers Accepted \/ Number of Submissions Sent for Review * 100\" and then rounded to a whole number.","order":6,"name":"acceptance_rate_of_full_papers","label":"Acceptance Rate of Full Papers","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"3,1","order":7,"name":"average_number_of_reviews_per_paper","label":"Average Number of Reviews per Paper","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"3,3","order":8,"name":"average_number_of_papers_per_reviewer","label":"Average Number of Papers per Reviewer","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Yes","order":9,"name":"external_reviewers_involved","label":"External Reviewers Involved","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}}]}}