{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,6,29]],"date-time":"2023-06-29T09:40:05Z","timestamp":1688031605883},"reference-count":19,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2013,2,7]],"date-time":"2013-02-07T00:00:00Z","timestamp":1360195200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2013,8]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In most of our daily motion tasks, the coordination between limbs is very crucial for successful execution of the tasks. In this paper, coordination among oscillators controlling in Cartesian space is studied to control bipedal walking. In our method, phase adjustment among oscillators is considered as one of the key issues to achieve coordination. A new phase adjustment method is proposed. With this method, an oscillator is able to coordinate other oscillators and maintain a desired phase relationship. This property is important for the walking control especially when external perturbations are given. To simplify the relationship between oscillators in a central pattern generator (CPG), a hierarchical CPG structure is adopted, where a main oscillator will be used to adjust other oscillators. In the simulation, the walking motion controlled by the CPG controller converges to a stable pattern even with external perturbations. We have implemented the controller in both the simulation model and real hardware robot.<\/jats:p>","DOI":"10.1017\/s0263574713000076","type":"journal-article","created":{"date-parts":[[2013,2,7]],"date-time":"2013-02-07T10:15:33Z","timestamp":1360232133000},"page":"777-788","source":"Crossref","is-referenced-by-count":2,"title":["A coordination-based CPG structure for 3D walking control"],"prefix":"10.1017","volume":"31","author":[{"given":"Weiwei","family":"Huang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chee-Meng","family":"Chew","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Geok-Soon","family":"Hong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2013,2,7]]},"reference":[{"key":"S0263574713000076_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/BF00204048"},{"key":"S0263574713000076_ref16","first-page":"331","volume-title":"IEEE International Conference on Industrial Informatics","author":"Surdilovic","year":"2004"},{"key":"S0263574713000076_ref12","first-page":"925","volume-title":"Proceedings of the IEEE\u2013RAS International Conference on Humanoid Robots","author":"Nakanishi","year":"2004"},{"key":"S0263574713000076_ref1","doi-asserted-by":"publisher","DOI":"10.1096\/fasebj.2.7.2450802"},{"key":"S0263574713000076_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/BF00198086"},{"key":"S0263574713000076_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/027836402320556430"},{"key":"S0263574713000076_ref10","doi-asserted-by":"publisher","DOI":"10.1126\/science.3975635"},{"key":"S0263574713000076_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/S0893-6080(98)00048-3"},{"key":"S0263574713000076_ref18","first-page":"648","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Ishide","year":"2004"},{"key":"S0263574713000076_ref13","doi-asserted-by":"crossref","first-page":"596","DOI":"10.1109\/ROBOT.2005.1570183","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Endo","year":"2005"},{"key":"S0263574713000076_ref19","doi-asserted-by":"crossref","first-page":"468","DOI":"10.1007\/s00422-003-0402-1","article-title":"Possible functional roles of phase resetting during walking","volume":"88","author":"Yamasaki","year":"2003","journal-title":"Biol. Cybern."},{"key":"S0263574713000076_ref2","doi-asserted-by":"publisher","DOI":"10.1113\/jphysiol.1992.sp019296"},{"key":"S0263574713000076_ref3","first-page":"348","article-title":"Intermanual coordination: From behavioural principles to neural-network interactions","volume":"3","author":"Swinnen","year":"2002","journal-title":"Nature"},{"key":"S0263574713000076_ref7","doi-asserted-by":"crossref","first-page":"2618","DOI":"10.1109\/ROBOT.1992.220047","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Lewis","year":"1992"},{"key":"S0263574713000076_ref8","first-page":"204","volume-title":"IEEE Conference on Robotics, Automation and Mechatronics","author":"Garis","year":"2006"},{"key":"S0263574713000076_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/BF00449593"},{"key":"S0263574713000076_ref14","first-page":"3206","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Huang","year":"2008"},{"key":"S0263574713000076_ref15","doi-asserted-by":"crossref","DOI":"10.1002\/cphy.cp010226","volume-title":"Control of Locomotion in Bipeds, Tetrapods and Fish","author":"Grillner","year":"1981"},{"key":"S0263574713000076_ref17","first-page":"2688","volume-title":"IEEE International Conference on Robotics and Automation","author":"Matsubara","year":"2007"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574713000076","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,6,29]],"date-time":"2023-06-29T09:14:41Z","timestamp":1688030081000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574713000076\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,2,7]]},"references-count":19,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2013,8]]}},"alternative-id":["S0263574713000076"],"URL":"https:\/\/doi.org\/10.1017\/s0263574713000076","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,2,7]]}}}