{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T20:01:46Z","timestamp":1776110506002,"version":"3.50.1"},"reference-count":20,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2009,12,30]],"date-time":"2009-12-30T00:00:00Z","timestamp":1262131200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2010,4]]},"DOI":"10.1007\/s10514-009-9168-1","type":"journal-article","created":{"date-parts":[[2009,12,29]],"date-time":"2009-12-29T18:45:51Z","timestamp":1262112351000},"page":"283-294","source":"Crossref","is-referenced-by-count":56,"title":["Adaptive creeping locomotion of a CPG-controlled snake-like robot to\u00a0environment change"],"prefix":"10.1007","volume":"28","author":[{"given":"Xiaodong","family":"Wu","sequence":"first","affiliation":[]},{"given":"Shugen","family":"Ma","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2009,12,30]]},"reference":[{"key":"9168_CR1","unstructured":"Conradt, J., & Varshavskaya, P. (2003). Distributed central pattern generator control for a serpentine robot. In Proceedings of artificial neural networks and neural information (pp. 338\u2013341), Istanbul, Turkey."},{"issue":"5\u20136","key":"9168_CR2","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1007\/BF01185408","volume":"69","author":"O. Ekeberg","year":"1993","unstructured":"Ekeberg, O. (1993). A combined neuronal and mechanical model of fish swimming. Biological Cybernetics, 69(5\u20136), 363\u2013374.","journal-title":"Biological Cybernetics"},{"issue":"3\u20134","key":"9168_CR3","doi-asserted-by":"crossref","first-page":"187","DOI":"10.1177\/0278364903022003004","volume":"22","author":"Y. Fukuoka","year":"2003","unstructured":"Fukuoka, Y., Kimura, H., & Cohen, A. H. (2003). Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts. The International Journal of Robotics Research, 22(3\u20134), 187\u2013202.","journal-title":"The International Journal of Robotics Research"},{"key":"9168_CR4","volume-title":"Biologically inspired robots: serpentile locomotors and manipulators","author":"S. Hirose","year":"1993","unstructured":"Hirose, S. (1993). Biologically inspired robots: serpentile locomotors and manipulators. London: Oxford University."},{"issue":"4","key":"9168_CR5","doi-asserted-by":"crossref","first-page":"642","DOI":"10.1016\/j.neunet.2008.03.014","volume":"21","author":"A. J. Ijspeert","year":"2008","unstructured":"Ijspeert, A. J. (2008). Central pattern generators for locomotion control in animals and robots: a review. Neural Networks, 21(4), 642\u2013653.","journal-title":"Neural Networks"},{"key":"9168_CR6","doi-asserted-by":"crossref","unstructured":"Ijspeert, A. J., & Crespi, A. (2007). Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model. In Proceedings of 2007 IEEE international conference on robotics and automation (pp.\u00a0262\u2013268), Roma, Italy.","DOI":"10.1109\/ROBOT.2007.363797"},{"key":"9168_CR7","doi-asserted-by":"crossref","unstructured":"Inoue, K., Ma, S., & Cheng, J. (2004). Neural oscillator network-based controller for meandering locomotion of snake-like robot. In Proceedings of 2004 IEEE international conference on robotics and automation (pp.\u00a05064\u20135069), New Orleans, USA.","DOI":"10.1109\/ROBOT.2004.1302520"},{"key":"9168_CR8","doi-asserted-by":"crossref","unstructured":"Inoue, K., Sumi, T., & Ma, S. (2007). CPG-based control of a simulated snake-like robot adaptable to changing ground friction. In Proceedings of 2007 IEEE\/RSJ international conference on intelligent robots and systems (pp.\u00a01957\u20131962), San Diego, USA.","DOI":"10.1109\/IROS.2007.4399552"},{"key":"9168_CR9","unstructured":"Lu, Z., Ma, S., Li, B., & Wang, Y. (2005). Serpentine locomotion of a snake-like robot controlled by cyclic inhibitory CPG model. In Proceedings of 2005 IEEE\/RSJ international conference on intelligent robots and systems (pp.\u00a03019\u20133024), Edmonton, Canada."},{"issue":"2","key":"9168_CR10","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1163\/15685530152116236","volume":"15","author":"S. Ma","year":"2001","unstructured":"Ma, S. (2001). Analysis of creeping locomotion of a snake-like robot. Advanced Robotics, 15(2), 205\u2013224.","journal-title":"Advanced Robotics"},{"issue":"1","key":"9168_CR11","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1007\/s10514-006-5204-6","volume":"20","author":"S. Ma","year":"2006","unstructured":"Ma, S., & Tadokoro, N. (2006). Analysis of creeping locomotion of a snake-like robot on a slope. Autonomous Robots, 20(1), 15\u201323.","journal-title":"Autonomous Robots"},{"key":"9168_CR12","doi-asserted-by":"crossref","unstructured":"Matsuo, T., Yokoyama, T., & Ishii, K. (2007). Development of neural oscillator based motion control system and applied to snake-like robot. In Proceedings of 2007 IEEE\/RSJ international conference on intelligent robots and systems (pp.\u00a03697\u20133702), San Diego, USA.","DOI":"10.1109\/IROS.2007.4399615"},{"issue":"6","key":"9168_CR13","doi-asserted-by":"crossref","first-page":"367","DOI":"10.1007\/BF00449593","volume":"52","author":"K. Matsuoka","year":"1985","unstructured":"Matsuoka, K. (1985). Sustained oscillations generated by mutually inhibiting neurons with adaptation. Biological Cybernetics, 52(6), 367\u2013376.","journal-title":"Biological Cybernetics"},{"key":"9168_CR14","volume-title":"Bio-inspired emergent control of locomotion systems","author":"F. Mattia","year":"2004","unstructured":"Mattia, F., Paolo, A., & Luigi, F. (2004). Bio-inspired emergent control of locomotion systems. Singapore: World Scientific."},{"key":"9168_CR15","doi-asserted-by":"crossref","unstructured":"McIsaac, K. A., & Ostrowski, J. P. (2000). Motion planning for dynamic eel-like robots. In Proceedings of 2000 IEEE international conference on robotics and automation (pp.\u00a01695\u20131700), San Francisco, CA, USA.","DOI":"10.1109\/ROBOT.2000.844840"},{"key":"9168_CR16","unstructured":"Mori, M., & Hirose, S. (2002). Three-dimensional serpentine motion and lateral rolling by active cord mechanism acmr3. In Proceedings of 2002 IEEE\/RSJ international conference on intelligent robots and systems (pp.\u00a0829\u2013834), EPFL, Switzerland."},{"issue":"10\u201312","key":"9168_CR17","first-page":"1907","volume":"70","author":"M. Sfakiotakis","year":"2008","unstructured":"Sfakiotakis, M., & Tsakiris, D. P. (2008). Neuromuscular control of reactive behaviors for undulatory robots. Neurocomputing, 70(10\u201312), 1907\u20131913.","journal-title":"Neurocomputing"},{"issue":"3\u20134","key":"9168_CR18","doi-asserted-by":"crossref","first-page":"423","DOI":"10.1177\/0278364907088401","volume":"27","author":"A. Sproewitz","year":"2008","unstructured":"Sproewitz, A., Moeckel, R., Maye, J., & Ijspeert, A. J. (2008). Learning to move in modular robots using central pattern generators and online optimization. The International Journal of Robotics Research, 27(3\u20134), 423\u2013443.","journal-title":"The International Journal of Robotics Research"},{"key":"9168_CR19","doi-asserted-by":"crossref","unstructured":"Williamson, M.\u00a0M. (1998). Rhythmic robot arm control using oscillators. In Proceedings of 1998 IEEE\/RSJ international conference on intelligent robots and systems (pp.\u00a077\u201383), Victoria, Canada.","DOI":"10.1109\/IROS.1998.724600"},{"key":"9168_CR20","doi-asserted-by":"crossref","unstructured":"Wu, X., & Ma, S. (2009). CPG-based control of serpentine locomotion of a snake-like robot. In Proceedings of 9th international IFAC symposium on robot control, Gifu, Japan (pp. 871\u2013876).","DOI":"10.3182\/20090909-4-JP-2010.00119"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-009-9168-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-009-9168-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-009-9168-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T09:28:11Z","timestamp":1685352491000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-009-9168-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,12,30]]},"references-count":20,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2010,4]]}},"alternative-id":["9168"],"URL":"https:\/\/doi.org\/10.1007\/s10514-009-9168-1","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,12,30]]}}}