{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T03:41:54Z","timestamp":1781926914440,"version":"3.54.5"},"reference-count":43,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2022,1,21]],"date-time":"2022-01-21T00:00:00Z","timestamp":1642723200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2022,6,1]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>To achieve stable gait planning and enhance the motion performance of quadruped robot, this paper aims to propose a motion control strategy based on central pattern generator (CPG) and back-propagation neural network (BPNN).<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>First, the Kuramoto phase oscillator is used to construct the CPG network model, and a piecewise continuous phase difference matrix is designed to optimize the duty cycle of walk gait, so as to realize the gait planning and smooth switching. Second, the mapper between CPG output and joint drive is established based on BP neural network, so that the quadruped robot based on CPG control has better foot trajectory to enhance the motion performance. Finally, to obtain better mapping effect, an evaluation function is resigned to evaluate the proximity between the actual foot trajectory and the ideal foot trajectory. Genetic algorithm and particle swarm optimization are used to optimize the initial weights and thresholds of BPNN to obtain more accurate foot trajectory.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The method provides a solution for the smooth gait switching and foot trajectory of the robot. The quintic polynomial trajectory is selected to testify the validity and practicability of the method through simulation and prototype experiment.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The paper solved the incorrect duty cycle under the walk gait of CPG network constructed by Kuramoto phase oscillator, and made the robot have a better foot trajectory by mapper to enhance its motion performance.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-08-2021-0181","type":"journal-article","created":{"date-parts":[[2022,1,20]],"date-time":"2022-01-20T06:45:13Z","timestamp":1642661113000},"page":"779-797","source":"Crossref","is-referenced-by-count":25,"title":["A CPG-based gait planning and motion performance analysis for quadruped robot"],"prefix":"10.1108","volume":"49","author":[{"given":"ShunXiang","family":"Wei","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haibo","family":"Wu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Liang","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"YiXiao","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiang","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Quanfeng","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2022,1,21]]},"reference":[{"issue":"2","key":"key2022053115392821600_ref001","doi-asserted-by":"crossref","first-page":"433","DOI":"10.3390\/en14020433","article-title":"Energy efficiency of a quadruped robot with neuro-inspired control in complex environments","volume":"14","year":"2021","journal-title":"Energies"},{"issue":"17","key":"key2022053115392821600_ref002","doi-asserted-by":"crossref","first-page":"3705","DOI":"10.3390\/s19173705","article-title":"CPG-based gait generation of the curved-leg hexapod robot with smooth gait transition","volume":"19","year":"2019","journal-title":"Sensors"},{"key":"key2022053115392821600_ref003","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1016\/j.neucom.2020.07.114","article-title":"Neural coupled Central pattern generator based smooth gait transition of a biomimetic hexapod robot","volume":"420","year":"2021","journal-title":"Neurocomputing"},{"issue":"2","key":"key2022053115392821600_ref004","first-page":"2017","article-title":"Development of quadruped walking robots: a review","volume":"12","year":"2020","journal-title":"Ain Shams Engineering Journal"},{"key":"key2022053115392821600_ref005","article-title":"Analysis and optimization of interpolation points for quadruped robots joint trajectory","volume":"2020","year":"2020","journal-title":"Complexity"},{"issue":"7","key":"key2022053115392821600_ref006","doi-asserted-by":"crossref","first-page":"735","DOI":"10.1016\/j.physd.2011.11.011","article-title":"Asymptotic formation and orbital stability of phase-locked states for the kuramoto model","volume":"241","year":"2012","journal-title":"Physica D: Nonlinear Phenomena"},{"issue":"3\/4","key":"key2022053115392821600_ref007","first-page":"187","article-title":"Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts","volume":"22","year":"2003","journal-title":"The International Journal of Robotics Research"},{"issue":"2","key":"key2022053115392821600_ref008","doi-asserted-by":"crossref","first-page":"526","DOI":"10.3390\/s21020526","article-title":"Design of decision tree structure with improved BPNN nodes for high-accuracy locomotion mode recognition using a single IMU","volume":"21","year":"2021","journal-title":"Sensors"},{"key":"key2022053115392821600_ref009","doi-asserted-by":"crossref","unstructured":"Huang, Z. and Wang, W. 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