{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:20:14Z","timestamp":1760235614478,"version":"build-2065373602"},"reference-count":34,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2021,9,9]],"date-time":"2021-09-09T00:00:00Z","timestamp":1631145600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52004034","61801175"],"award-info":[{"award-number":["52004034","61801175"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented.<\/jats:p>","DOI":"10.3390\/s21186045","type":"journal-article","created":{"date-parts":[[2021,9,9]],"date-time":"2021-09-09T21:36:58Z","timestamp":1631223418000},"page":"6045","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Motion Control of a Gecko-like Robot Based on a Central Pattern Generator"],"prefix":"10.3390","volume":"21","author":[{"given":"Qing","family":"Han","sequence":"first","affiliation":[{"name":"School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Feixiang","family":"Cao","sequence":"additional","affiliation":[{"name":"School of Mechatronic, Northwestern Polytechnical University, Xi\u2019an 710072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peng","family":"Yi","sequence":"additional","affiliation":[{"name":"School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0499-5135","authenticated-orcid":false,"given":"Tiancheng","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"},{"name":"Air Institute, IoT Digital Innovation Hub, 47011 Valladolid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,9,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1082","DOI":"10.1126\/science.1107799","article-title":"Effcient bipedal robots based on passive-dynamic walkers","volume":"307","author":"Collins","year":"2005","journal-title":"Science"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1126\/science.288.5463.100","article-title":"How animals move: An integrative view","volume":"288","author":"Dickinson","year":"2000","journal-title":"Science"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1165","DOI":"10.1177\/0278364906072511","article-title":"Scaling hard vertical surfaces with compliant microspine arrays","volume":"25","author":"Asbeck","year":"2006","journal-title":"Int. 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