{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,21]],"date-time":"2025-11-21T17:53:18Z","timestamp":1763747598494},"reference-count":55,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2017,1,7]],"date-time":"2017-01-07T00:00:00Z","timestamp":1483747200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Biol Cybern"],"published-print":{"date-parts":[[2017,2]]},"DOI":"10.1007\/s00422-016-0708-4","type":"journal-article","created":{"date-parts":[[2017,1,7]],"date-time":"2017-01-07T04:23:04Z","timestamp":1483762984000},"page":"49-67","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["A sensory-driven controller for quadruped locomotion"],"prefix":"10.1007","volume":"111","author":[{"given":"C\u00e9sar","family":"Ferreira","sequence":"first","affiliation":[]},{"given":"Cristina P.","family":"Santos","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,1,7]]},"reference":[{"issue":"2","key":"708_CR1","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1007\/s00221-006-0542-3","volume":"175","author":"T Akay","year":"2006","unstructured":"Akay T, McVea D, Tachibana A, Pearson K (2006) Coordination of fore and hind leg stepping in cats on a transversely-split treadmill. Exp Brain Res 175(2):211\u2013222","journal-title":"Exp Brain Res"},{"issue":"47","key":"708_CR2","doi-asserted-by":"crossref","first-page":"16,877","DOI":"10.1073\/pnas.1419045111","volume":"111","author":"T Akay","year":"2014","unstructured":"Akay T, Tourtellotte WG, Arber S, Jessell TM (2014) Degradation of mouse locomotor pattern in the absence of proprioceptive sensory feedback. Proc Natl Acad Sci 111(47):16,877\u201316,882","journal-title":"Proc Natl Acad Sci"},{"key":"708_CR3","doi-asserted-by":"crossref","unstructured":"Brown TG (1911) The intrinsic factors in the act of progression in the mammal. In: Proceedings of the Royal Society of London Series B, containing papers of a biological character, pp 308\u2013319","DOI":"10.1098\/rspb.1911.0077"},{"issue":"4","key":"708_CR4","doi-asserted-by":"crossref","first-page":"887","DOI":"10.1093\/brain\/awm022","volume":"130","author":"RE Burke","year":"2007","unstructured":"Burke RE (2007) Sir Charles Sherrington\u2019s the integrative action of the nervous system: a centenary appreciation. Brain 130(4):887\u2013894","journal-title":"Brain"},{"issue":"3","key":"708_CR5","doi-asserted-by":"crossref","first-page":"401","DOI":"10.1046\/j.1096-3642.2002.00038.x","volume":"136","author":"M Cartmill","year":"2002","unstructured":"Cartmill M, Lemelin P, Schmitt D (2002) Support polygons and symmetricalgaits in mammals. Zool J Linn Soc 136(3):401\u2013420","journal-title":"Zool J Linn Soc"},{"issue":"7","key":"708_CR6","doi-asserted-by":"crossref","first-page":"1435","DOI":"10.1016\/S0893-6080(98)00067-7","volume":"11","author":"H Cruse","year":"1998","unstructured":"Cruse H, Kindermann T, Schumm M, Dean J, Schmitz J (1998) Walkneta biologically inspired network to control six-legged walking. Neural Netw 11(7):1435\u20131447","journal-title":"Neural Netw"},{"issue":"1","key":"708_CR7","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1007\/s00422-011-0446-6","volume":"105","author":"S Daun-Gruhn","year":"2011","unstructured":"Daun-Gruhn S, B\u00fcschges A (2011) From neuron to behavior: dynamic equation-based prediction of biological processes in motor control. Biol Cybern 105(1):71\u201388","journal-title":"Biol Cybern"},{"key":"708_CR8","first-page":"614","volume":"9","author":"Y Dong","year":"2014","unstructured":"Dong Y, Liu W, Zuo S (2014) Observer design for nonlinear systems with interval time-varying delay. WSEAS Trans Syst Control 9:614\u2013622","journal-title":"WSEAS Trans Syst Control"},{"issue":"3","key":"708_CR9","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1007\/BF00235013","volume":"24","author":"J Duysens","year":"1976","unstructured":"Duysens J, Pearson K (1976) The role of cutaneous afferents from the distal hindlimb in the regulation of the step cycle of thalamic cats. Exp Brain Res 24(3):245\u2013255","journal-title":"Exp Brain Res"},{"key":"708_CR10","doi-asserted-by":"publisher","first-page":"371","DOI":"10.3389\/fnhum.2014.00371","volume":"8","author":"F Dzeladini","year":"2014","unstructured":"Dzeladini F, Van Den Kieboom J, Ijspeert A (2014) The contribution of a central pattern generator in a reflex-based neuromuscular model. Front Hum Neurosci 8:371. doi: 10.3389\/fnhum.2014.00371","journal-title":"Front Hum Neurosci"},{"issue":"6","key":"708_CR11","doi-asserted-by":"crossref","first-page":"4256","DOI":"10.1152\/jn.00065.2005","volume":"94","author":"\u00d6 Ekeberg","year":"2005","unstructured":"Ekeberg \u00d6, Pearson K (2005) Computer simulation of stepping in the hind legs of the cat: an examination of mechanisms regulating the stance-to-swing transition. J Neurophysiol 94(6):4256\u20134268","journal-title":"J Neurophysiol"},{"key":"708_CR12","first-page":"92","volume":"33","author":"C Ferreira","year":"2014","unstructured":"Ferreira C, Santos CP, Rocha J (2014) Quadruped sensory-driven locomotion. Math Methods Comput Tech Intell Syst 33:92\u201398","journal-title":"Math Methods Comput Tech Intell Syst"},{"issue":"4","key":"708_CR13","doi-asserted-by":"crossref","first-page":"936","DOI":"10.1152\/jn.1979.42.4.936","volume":"42","author":"H Forssberg","year":"1979","unstructured":"Forssberg H (1979) Stumbling corrective reaction: a phase-dependent compensatory reaction during locomotion. J Neurophysiol 42(4):936\u2013953","journal-title":"J Neurophysiol"},{"issue":"1","key":"708_CR14","doi-asserted-by":"crossref","first-page":"121","DOI":"10.1016\/0006-8993(77)90710-7","volume":"132","author":"H Forssberg","year":"1977","unstructured":"Forssberg H, Grillner S, Rossignol S (1977) Phasic gain control of reflexes from the dorsum of the paw during spinal locomotion. Brain Res 132(1):121\u2013139","journal-title":"Brain Res"},{"issue":"3\u20134","key":"708_CR15","doi-asserted-by":"crossref","first-page":"187","DOI":"10.1177\/0278364903022003004","volume":"22","author":"Y Fukuoka","year":"2003","unstructured":"Fukuoka Y, Kimura H, Cohen AH (2003) Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts. Int J Robot Res 22(3\u20134):187\u2013202","journal-title":"Int J Robot Res"},{"key":"708_CR16","doi-asserted-by":"crossref","unstructured":"Fukuoka Y, Habu Y, Fukui T (2015) A simple rule for quadrupedal gait generation determined by leg loading feedback: a modeling study. Scientific reports 5","DOI":"10.1038\/srep08169"},{"issue":"3","key":"708_CR17","doi-asserted-by":"crossref","first-page":"263","DOI":"10.1109\/TNSRE.2010.2047592","volume":"18","author":"H Geyer","year":"2010","unstructured":"Geyer H, Herr H (2010) A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities. IEEE Trans Neural Syst Rehabil Eng 18(3):263\u2013273","journal-title":"IEEE Trans Neural Syst Rehabil Eng"},{"key":"708_CR18","doi-asserted-by":"crossref","first-page":"603","DOI":"10.1152\/jn.1994.71.2.603","volume":"71","author":"MA Gorassini","year":"1994","unstructured":"Gorassini MA, Prochazka A, Hiebert GW, Gauthier MJ (1994) Corrective responses to loss of ground support during walking. I. Intact cats. J Neurophysiol 71:603\u2013603","journal-title":"J Neurophysiol"},{"issue":"2","key":"708_CR19","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1016\/0006-8993(78)90973-3","volume":"146","author":"S Grillner","year":"1978","unstructured":"Grillner S, Rossignol S (1978) On the initiation of the swing phase of locomotion in chronic spinal cats. Brain Res 146(2):269\u2013277","journal-title":"Brain Res"},{"key":"708_CR20","doi-asserted-by":"crossref","first-page":"611","DOI":"10.1152\/jn.1994.71.2.611","volume":"71","author":"GW Hiebert","year":"1994","unstructured":"Hiebert GW, Gorassini MA, Jiang W, Prochazka A, Pearson KG (1994) Corrective responses to loss of ground support during walking. II. Comparison of intact and chronic spinal cats. J Neurophysiol 71:611\u2013611","journal-title":"J Neurophysiol"},{"issue":"1","key":"708_CR21","doi-asserted-by":"crossref","first-page":"416","DOI":"10.1152\/jn.1995.73.1.416","volume":"73","author":"GW Hiebert","year":"1995","unstructured":"Hiebert GW, Whelan PJ, Prochazka A, Pearson KG (1995) Suppression of the corrective response to loss of ground support by stimulation of extensor group I afferents. J Neurophysiol 73(1):416\u2013420","journal-title":"J Neurophysiol"},{"issue":"3697","key":"708_CR22","doi-asserted-by":"crossref","first-page":"701","DOI":"10.1126\/science.150.3697.701","volume":"150","author":"M Hildebrand","year":"1965","unstructured":"Hildebrand M (1965) Symmetrical gaits of horses. Science 150(3697):701\u2013708","journal-title":"Science"},{"issue":"5","key":"708_CR23","doi-asserted-by":"crossref","first-page":"055,004","DOI":"10.1088\/1748-3190\/10\/5\/055004","volume":"10","author":"A Hunt","year":"2015","unstructured":"Hunt A, Schmidt M, Fischer M, Quinn R (2015) A biologically based neural system coordinates the joints and legs of a tetrapod. Bioinspir Biomim 10(5):055,004","journal-title":"Bioinspir Biomim"},{"issue":"4","key":"708_CR24","doi-asserted-by":"crossref","first-page":"642","DOI":"10.1016\/j.neunet.2008.03.014","volume":"21","author":"AJ Ijspeert","year":"2008","unstructured":"Ijspeert AJ (2008) Central pattern generators for locomotion control in animals and robots: a review. Neural Netw 21(4):642\u2013653","journal-title":"Neural Netw"},{"issue":"6206","key":"708_CR25","doi-asserted-by":"crossref","first-page":"196","DOI":"10.1126\/science.1254486","volume":"346","author":"AJ Ijspeert","year":"2014","unstructured":"Ijspeert AJ (2014) Biorobotics: using robots to emulate and investigate agile locomotion. Science 346(6206):196\u2013203","journal-title":"Science"},{"key":"708_CR26","doi-asserted-by":"publisher","unstructured":"Iosa M, Morone G, Fusco A, Pratesi L, Bragoni M, Coiro P, Multari M, Venturiero V, De\u00a0Angelis D, Paolucci S (2012) Effects of walking endurance reduction on gait stability in patients with stroke. Stroke Res Treat 2012:Article ID 810415, 6 pages. doi: 10.1155\/2012\/810415","DOI":"10.1155\/2012\/810415"},{"issue":"1","key":"708_CR27","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1016\/j.ridd.2011.08.031","volume":"33","author":"M Iosa","year":"2012","unstructured":"Iosa M, Marro T, Paolucci S, Morelli D (2012) Stability and harmony of gait in children with cerebral palsy. Res Dev Disabil 33(1):129\u2013135","journal-title":"Res Dev Disabil"},{"key":"708_CR28","doi-asserted-by":"crossref","unstructured":"Kaushik R, Marcinkiewicz M, Xiao J, Parsons S, Raphan T (2007) Implementation of bio-inspired vestibulo-ocular reflex in a quadrupedal robot. In: Robotics and Automation, 2007 IEEE International Conference on, IEEE, pp 4861\u20134866","DOI":"10.1109\/ROBOT.2007.364228"},{"key":"708_CR29","doi-asserted-by":"crossref","unstructured":"Kimura H, Fukuoka Y, Nakamura H (2000) Biologically inspired adaptive dynamic walking of the quadruped on irregular terrain. In: Robotics Research\u2014International Symposium, vol 9, pp 329\u2013336","DOI":"10.1007\/978-1-4471-0765-1_40"},{"issue":"5","key":"708_CR30","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1177\/0278364907078089","volume":"26","author":"H Kimura","year":"2007","unstructured":"Kimura H, Fukuoka Y, Cohen AH (2007) Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts. Int J Robot Res 26(5):475\u2013490","journal-title":"Int J Robot Res"},{"issue":"4","key":"708_CR31","doi-asserted-by":"crossref","first-page":"046,011","DOI":"10.1088\/1741-2560\/9\/4\/046011","volume":"9","author":"TJ Klein","year":"2012","unstructured":"Klein TJ, Lewis MA (2012) A physical model of sensorimotor interactions during locomotion. J Neural Eng 9(4):046,011","journal-title":"J Neural Eng"},{"issue":"2","key":"708_CR32","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1123\/mcj.6.2.129","volume":"6","author":"AD Kuo","year":"2002","unstructured":"Kuo AD (2002) The relative roles of feedforward and feedback in the control of rhythmic movements. Motor Control Champaign 6(2):129\u2013145","journal-title":"Motor Control Champaign"},{"issue":"4","key":"708_CR33","doi-asserted-by":"crossref","first-page":"667","DOI":"10.1016\/j.neunet.2008.03.010","volume":"21","author":"C Maufroy","year":"2008","unstructured":"Maufroy C, Kimura H, Takase K (2008) Towards a general neural controller for quadrupedal locomotion. Neural Netw 21(4):667\u2013681","journal-title":"Neural Netw"},{"issue":"1","key":"708_CR34","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1111\/j.1469-7793.2001.0041b.x","volume":"533","author":"DA McCrea","year":"2001","unstructured":"McCrea DA (2001) Spinal circuitry of sensorimotor control of locomotion. J Physiol 533(1):41\u201350","journal-title":"J Physiol"},{"issue":"5","key":"708_CR35","doi-asserted-by":"crossref","first-page":"3497","DOI":"10.1152\/jn.00511.2005","volume":"94","author":"DA McVea","year":"2005","unstructured":"McVea DA, Donelan JM, Tachibana A, Pearson KG (2005) A role for hip position in initiating the swing-to-stance transition in walking cats. J Neurophysiol 94(5):3497\u20133508","journal-title":"J Neurophysiol"},{"issue":"1","key":"708_CR36","first-page":"39","volume":"1","author":"O Michel","year":"2004","unstructured":"Michel O (2004) Webots: professional mobile robot simulation. J Adv Robot Syst 1(1):39\u201342","journal-title":"J Adv Robot Syst"},{"key":"708_CR37","doi-asserted-by":"crossref","unstructured":"Owaki D, Morikawa L, Ishiguro A (2012) Listen to body\u2019s message: quadruped robot that fully exploits physical interaction between legs. In: Intelligent Robots and Systems (IROS), 2012 IEEE\/RSJ International Conference on, IEEE, pp 1950\u20131955","DOI":"10.1109\/IROS.2012.6385857"},{"issue":"1","key":"708_CR38","doi-asserted-by":"crossref","first-page":"222","DOI":"10.1016\/j.brainresrev.2007.06.014","volume":"57","author":"K Pearson","year":"2008","unstructured":"Pearson K (2008) Role of sensory feedback in the control of stance duration in walking cats. Brain Res Rev 57(1):222\u2013227","journal-title":"Brain Res Rev"},{"issue":"11","key":"708_CR39","doi-asserted-by":"crossref","first-page":"625","DOI":"10.1016\/j.tins.2006.08.007","volume":"29","author":"K Pearson","year":"2006","unstructured":"Pearson K, Ekeberg \u00d6, B\u00fcschges A (2006) Assessing sensory function in locomotor systems using neuro-mechanical simulations. Trends Neurosci 29(11):625\u2013631","journal-title":"Trends Neurosci"},{"key":"708_CR40","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/S0079-6123(03)43012-4","volume":"143","author":"KG Pearson","year":"2004","unstructured":"Pearson KG (2004) Generating the walking gait: role of sensory feedback. Prog Brain Res 143:123\u2013129","journal-title":"Prog Brain Res"},{"issue":"5853","key":"708_CR41","doi-asserted-by":"crossref","first-page":"1088","DOI":"10.1126\/science.1145803","volume":"318","author":"R Pfeifer","year":"2007","unstructured":"Pfeifer R, Lungarella M, Iida F (2007) Self-organization, embodiment, and biologically inspired robotics. Science 318(5853):1088\u20131093","journal-title":"Science"},{"key":"708_CR42","unstructured":"Porta JM, Celaya E (2001) Efficient gait generation using reinforcement learning. In: Proceedings of the Fourth International Conference on Climbing and Walking Robots, pp 411\u2013418"},{"issue":"1","key":"708_CR43","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1016\/0304-3940(78)90109-X","volume":"7","author":"A Prochazka","year":"1978","unstructured":"Prochazka A, Sontag KH, Wand P (1978) Motor reactions to perturbations of gait: proprioceptive and somesthetic involvement. Neurosci Lett 7(1):35\u201339","journal-title":"Neurosci Lett"},{"key":"708_CR44","volume-title":"Legged robots that balance","author":"MH Raibert","year":"1986","unstructured":"Raibert MH (1986) Legged robots that balance. MIT press, Cambridge"},{"issue":"1","key":"708_CR45","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1152\/physrev.00028.2005","volume":"86","author":"S Rossignol","year":"2006","unstructured":"Rossignol S, Dubuc R, Gossard JP (2006a) Dynamic sensorimotor interactions in locomotion. Physiol Rev 86(1):89\u2013154","journal-title":"Physiol Rev"},{"issue":"1","key":"708_CR46","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1152\/physrev.00028.2005","volume":"86","author":"S Rossignol","year":"2006","unstructured":"Rossignol S, Dubuc R, Gossard JP (2006b) Dynamic sensorimotor interactions in locomotion. Physiol Rev 86(1):89\u2013154","journal-title":"Physiol Rev"},{"issue":"4","key":"708_CR47","doi-asserted-by":"crossref","first-page":"397","DOI":"10.1007\/s00422-013-0563-5","volume":"107","author":"M Schilling","year":"2013","unstructured":"Schilling M, Hoinville T, Schmitz J, Cruse H (2013) Walknet, a bio-inspired controller for hexapod walking. Biol Cybern 107(4):397\u2013419","journal-title":"Biol Cybern"},{"key":"708_CR48","doi-asserted-by":"crossref","unstructured":"Sousa J, Matos V, Peixoto\u00a0dos Santos C (2010) A bio-inspired postural control for a quadruped robot: an attractor-based dynamics. In: Intelligent Robots and Systems (IROS), 2010 IEEE\/RSJ International Conference on, IEEE, pp 5329\u20135334","DOI":"10.1109\/IROS.2010.5648945"},{"key":"708_CR49","unstructured":"Sproewitz A, Kuechler L, Tuleu A, Ajallooeian M, M\u00f6ckel R, Ijspeert A, et\u00a0al (2011) Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain. In: 5th International Symposium on Adaptive Motion of Animals and Machines, EPFL-CONF-182313"},{"issue":"8","key":"708_CR50","doi-asserted-by":"crossref","first-page":"932","DOI":"10.1177\/0278364913489205","volume":"32","author":"A Spr\u00f6witz","year":"2013","unstructured":"Spr\u00f6witz A, Tuleu A, Vespignani M, Ajallooeian M, Badri E, Ijspeert AJ (2013) Towards dynamic trot gait locomotion: design, control, and experiments with cheetah-cub, a compliant quadruped robot. Int J Robot Res 32(8):932\u2013950","journal-title":"Int J Robot Res"},{"issue":"7460","key":"708_CR51","doi-asserted-by":"crossref","first-page":"85","DOI":"10.1038\/nature12286","volume":"500","author":"AE Talpalar","year":"2013","unstructured":"Talpalar AE, Bouvier J, Borgius L, Fortin G, Pierani A, Kiehn O (2013) Dual-mode operation of neuronal networks involved in left\u2013right alternation. Nature 500(7460):85\u201388","journal-title":"Nature"},{"key":"708_CR52","doi-asserted-by":"crossref","unstructured":"Teixeira C, Costa L, Santos C (2014) Biped locomotion-improvement and adaptation. In: Autonomous Robot Systems and Competitions (ICARSC), 2014 IEEE International Conference on, IEEE, pp 110\u2013115","DOI":"10.1109\/ICARSC.2014.6849771"},{"issue":"2","key":"708_CR53","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1007\/s004220050468","volume":"79","author":"T Wadden","year":"1998","unstructured":"Wadden T, Ekeberg \u00d6 (1998) A neuro-mechanical model of legged locomotion: single leg control. Biol Cybern 79(2):161\u2013173","journal-title":"Biol Cybern"},{"issue":"2","key":"708_CR54","doi-asserted-by":"crossref","first-page":"146","DOI":"10.1007\/s00422-003-0449-z","volume":"90","author":"S Yakovenko","year":"2004","unstructured":"Yakovenko S, Gritsenko V, Prochazka A (2004) Contribution of stretch reflexes to locomotor control: a modeling study. Biol Cybern 90(2):146\u2013155","journal-title":"Biol Cybern"},{"key":"708_CR55","doi-asserted-by":"crossref","unstructured":"Yakovenko S (2011) A hierarchical perspective on rhythm generation for locomotor control. In: Gossard JP, Dubuc R, Kolta A (eds) Progress in Brain Research, chap 10, vol 188. Elsevier, pp 151\u2013166","DOI":"10.1016\/B978-0-444-53825-3.00015-2"}],"container-title":["Biological Cybernetics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-016-0708-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00422-016-0708-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-016-0708-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,17]],"date-time":"2019-09-17T07:27:36Z","timestamp":1568705256000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00422-016-0708-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,1,7]]},"references-count":55,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2017,2]]}},"alternative-id":["708"],"URL":"https:\/\/doi.org\/10.1007\/s00422-016-0708-4","relation":{},"ISSN":["0340-1200","1432-0770"],"issn-type":[{"value":"0340-1200","type":"print"},{"value":"1432-0770","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,1,7]]}}}