{"id":"https://openalex.org/W7213402127","doi":"https://doi.org/10.1126/scirobotics.aee1868","title":"AthenaZero: A low-inertia, bimanual robot for dynamic manipulation","display_name":"AthenaZero: A low-inertia, bimanual robot for dynamic manipulation","publication_year":2026,"publication_date":"2026-09-16","ids":{"openalex":"https://openalex.org/W7213402127","doi":"https://doi.org/10.1126/scirobotics.aee1868","pmid":"https://pubmed.ncbi.nlm.nih.gov/42748213"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aee1868","doi":"https://doi.org/10.1126/scirobotics.aee1868","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aee1868","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-a","doyens","jufo-3","ki-jl-2","medline","norway-1","poland-20","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2609.19194","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028301925","display_name":"Andrew S. Morgan","orcid":"https://orcid.org/0000-0002-8558-6236","observed_orcids":["https://orcid.org/0000-0002-8558-6236"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrew S. Morgan","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0000-0002-8558-6236","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040633262","display_name":"Gregory Xie","orcid":"https://orcid.org/0000-0002-4987-8338","observed_orcids":["https://orcid.org/0000-0002-4987-8338"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory Xie","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0000-0002-4987-8338","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057600272","display_name":"Capprin Bass","orcid":"https://orcid.org/0009-0009-0672-3756","observed_orcids":["https://orcid.org/0009-0009-0672-3756"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Capprin Bass","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0009-0009-0672-3756","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113836852","display_name":"Rachel Thomasson","orcid":"https://orcid.org/0000-0002-8719-0075","observed_orcids":["https://orcid.org/0000-0002-8719-0075"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rachel Thomasson","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0000-0002-8719-0075","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007615471","display_name":"Chunpeng Wang","orcid":"https://orcid.org/0000-0001-6894-8234","observed_orcids":["https://orcid.org/0000-0001-6894-8234"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chunpeng Wang","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0000-0001-6894-8234","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030977955","display_name":"Erfan Shahriari","orcid":"https://orcid.org/0000-0002-2980-135X","observed_orcids":["https://orcid.org/0000-0002-2980-135X"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erfan Shahriari","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0000-0002-2980-135X","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5151917533","display_name":"Harrison Busa","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harrison Busa","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5151884532","display_name":"Oluwaseun Araromi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oluwaseun Araromi","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073359002","display_name":"Joseph Aronov","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Aronov","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5151920650","display_name":"Michael Burgess","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Burgess","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016682778","display_name":"Velin D. Dimitrov","orcid":"https://orcid.org/0000-0002-3072-8962","observed_orcids":["https://orcid.org/0000-0002-3072-8962"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Velin D. Dimitrov","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0000-0002-3072-8962","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064486396","display_name":"Matthew A. Estrada","orcid":"https://orcid.org/0000-0002-5396-8379","observed_orcids":["https://orcid.org/0000-0002-5396-8379"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew A. Estrada","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0000-0002-5396-8379","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013839892","display_name":"Faris Hamdi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Faris Hamdi","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5151917377","display_name":"Samuel Kendig","orcid":"https://orcid.org/0009-0009-8958-4463","observed_orcids":["https://orcid.org/0009-0009-8958-4463"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel Kendig","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0009-0009-8958-4463","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102867268","display_name":"Taeyoon Lee","orcid":"https://orcid.org/0000-0002-4240-2767","observed_orcids":["https://orcid.org/0000-0002-4240-2767"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taeyoon Lee","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0000-0002-4240-2767","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069835284","display_name":"Jos\u00e9 Oscar Mur-Miranda","orcid":"https://orcid.org/0009-0000-3550-0484","observed_orcids":["https://orcid.org/0009-0000-3550-0484"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jose Oscar Mur-Miranda","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0009-0000-3550-0484","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094088533","display_name":"Emma Sommers","orcid":"https://orcid.org/0009-0007-5417-9543","observed_orcids":["https://orcid.org/0009-0007-5417-9543"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emma Sommers","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0009-0007-5417-9543","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060213967","display_name":"Paul Titchener","orcid":"https://orcid.org/0009-0003-8339-0621","observed_orcids":["https://orcid.org/0009-0003-8339-0621"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Titchener","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0009-0003-8339-0621","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041576387","display_name":"Margaret Wang","orcid":"https://orcid.org/0000-0002-7196-4929","observed_orcids":["https://orcid.org/0000-0002-7196-4929"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Margaret Wang","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017954641","display_name":"Achu Wilson","orcid":"https://orcid.org/0009-0005-6962-756X","observed_orcids":["https://orcid.org/0009-0005-6962-756X"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Achu Wilson","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0009-0005-6962-756X","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127618183","display_name":"Mark Yeatman","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yeatman","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009175888","display_name":"Osman Do\u011fan Yirmibe\u015fo\u011flu","orcid":"https://orcid.org/0000-0003-0613-2752","observed_orcids":["https://orcid.org/0000-0003-0613-2752"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Osman Dogan Yirmibesoglu","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0000-0003-0613-2752","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111915942","display_name":"Alfred A. Rizzi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alfred A. Rizzi","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041733539","display_name":"Annan Mozeika","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Annan Mozeika","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074396060","display_name":"Nicol\u00e1s Rojas","orcid":"https://orcid.org/0000-0001-5988-9180","observed_orcids":["https://orcid.org/0000-0001-5988-9180"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicolas Rojas","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0000-0001-5988-9180","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024144908","display_name":"Lael U. Odhner","orcid":"https://orcid.org/0009-0004-6194-8599","observed_orcids":["https://orcid.org/0009-0004-6194-8599"]},"institutions":[{"id":"https://openalex.org/I4405258407","display_name":"Robotics and AI Institute","ror":"https://ror.org/00kqcs728","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258407"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lael Odhner","raw_affiliation_strings":["RAI Institute, Cambridge, MA 02142, USA"],"raw_orcid":"https://orcid.org/0009-0004-6194-8599","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA 02142, USA","institution_ids":["https://openalex.org/I4405258407"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5028301925"],"corresponding_institution_ids":["https://openalex.org/I4405258407"],"apc_list":null,"apc_paid":null,"fwci":1.6164,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77710441,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"11","issue":"118","first_page":"eaee1868","last_page":"eaee1868"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.8539999723434448,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.8539999723434448,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.05000000074505806,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.047200001776218414,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dual-arm-robot","display_name":"dual-arm robot","score":0.796999990940094},{"id":"https://openalex.org/keywords/dynamic-manipulation","display_name":"dynamic manipulation","score":0.9290000200271606},{"id":"https://openalex.org/keywords/throwing","display_name":"throwing","score":0.4880000054836273},{"id":"https://openalex.org/keywords/catching","display_name":"catching","score":0.9919999837875366},{"id":"https://openalex.org/keywords/batting","display_name":"batting","score":0.9860000014305115},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.7549999952316284}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6833000183105469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.625},{"id":"https://openalex.org/C207451115","wikidata":"https://www.wikidata.org/wiki/Q12898216","display_name":"Throwing","level":2,"score":0.574999988079071},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5723999738693237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5367000102996826},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.476500004529953},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4675000011920929},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4652000069618225},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4406000077724457},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4124000072479248},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4018000066280365},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.3801000118255615},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.3788999915122986},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3743000030517578},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36579999327659607},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3294000029563904},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2964000105857849},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2890999913215637},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.28209999203681946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2667999863624573},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.26089999079704285}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1126/scirobotics.aee1868","doi":"https://doi.org/10.1126/scirobotics.aee1868","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aee1868","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-a","doyens","jufo-3","ki-jl-2","medline","norway-1","poland-20","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:42748213","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/42748213","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":"Journal Article"},{"id":"pmh:oai:arXiv.org:2609.19194","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.19194","pdf_url":"https://arxiv.org/pdf/2609.19194","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2609.19194","doi":"https://doi.org/10.48550/arxiv.2609.19194","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2609.19194","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2609.19194","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.19194","pdf_url":"https://arxiv.org/pdf/2609.19194","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310381","display_name":"Hyundai Motor Group","ror":"https://ror.org/05kxbz959"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7213402127.pdf","grobid_xml":"https://content.openalex.org/works/W7213402127.grobid-xml"},"referenced_works_count":58,"referenced_works":["https://openalex.org/W59441132","https://openalex.org/W1522225285","https://openalex.org/W1576713090","https://openalex.org/W1967377907","https://openalex.org/W1970101292","https://openalex.org/W1974357213","https://openalex.org/W1975899417","https://openalex.org/W1980780059","https://openalex.org/W1999477644","https://openalex.org/W2024004911","https://openalex.org/W2028720893","https://openalex.org/W2058718844","https://openalex.org/W2066379939","https://openalex.org/W2073136132","https://openalex.org/W2104181254","https://openalex.org/W2111253117","https://openalex.org/W2111474706","https://openalex.org/W2112474089","https://openalex.org/W2121196653","https://openalex.org/W2131404784","https://openalex.org/W2133672972","https://openalex.org/W2135561090","https://openalex.org/W2150024155","https://openalex.org/W2155337985","https://openalex.org/W2161668850","https://openalex.org/W2162189406","https://openalex.org/W2193268859","https://openalex.org/W2295130897","https://openalex.org/W2296653574","https://openalex.org/W2327315597","https://openalex.org/W2508966285","https://openalex.org/W2520862336","https://openalex.org/W2556078315","https://openalex.org/W2573227850","https://openalex.org/W2747172592","https://openalex.org/W2790017335","https://openalex.org/W2910348050","https://openalex.org/W2929903989","https://openalex.org/W2963092423","https://openalex.org/W2969125048","https://openalex.org/W2991963964","https://openalex.org/W3004386539","https://openalex.org/W3092087913","https://openalex.org/W3155140745","https://openalex.org/W3173939621","https://openalex.org/W4210590759","https://openalex.org/W4214570817","https://openalex.org/W4221139580","https://openalex.org/W4234057804","https://openalex.org/W4285102151","https://openalex.org/W4285102534","https://openalex.org/W4393139803","https://openalex.org/W4401416775","https://openalex.org/W4404983860","https://openalex.org/W4405754598","https://openalex.org/W4407212816","https://openalex.org/W4407813566","https://openalex.org/W4414050931"],"related_works":["https://openalex.org/W4414050708","https://openalex.org/W3210484675","https://openalex.org/W2594501866","https://openalex.org/W2111474706","https://openalex.org/W2057415973","https://openalex.org/W4200313134","https://openalex.org/W2800202634","https://openalex.org/W609694572","https://openalex.org/W2288591174","https://openalex.org/W2688214634"],"abstract_inverted_index":{"AthenaZero":[0,56,95],"is":[1],"a":[2,33,123,130],"bimanual":[3],"manipulator":[4],"designed":[5],"to":[6,30,69],"minimize":[7],"inertia":[8],"without":[9],"compromising":[10],"control":[11],"authority.":[12],"By":[13],"using":[14],"quasidirect":[15],"drive":[16],"actuation":[17],"and":[18,72,83,111,129,139,145],"transmission":[19],"remotization":[20],"techniques,":[21],"the":[22,65,74,143],"system":[23,149],"achieves":[24],"an":[25,36],"effective":[26],"end-point":[27],"mass":[28],"comparable":[29],"that":[31,42,67,152],"of":[32,38,43,98,104,117,132,147],"human,":[34],"about":[35],"order":[37],"magnitude":[39],"less":[40],"than":[41],"conventional":[44],"robot":[45],"manipulators.":[46],"This":[47],"characteristic,":[48],"combined":[49],"with":[50,109],"its":[51],"inherent":[52],"torque":[53],"transparency,":[54],"makes":[55],"exceptionally":[57],"well":[58],"suited":[59],"for":[60],"dynamic":[61],"manipulation.":[62],"We":[63],"describe":[64],"methodology":[66],"led":[68],"this":[70],"design":[71],"demonstrate":[73],"robot's":[75],"capabilities":[76],"on":[77,89],"three":[78],"baseball-inspired":[79],"tasks,":[80],"throwing,":[81],"catching,":[82],"batting,":[84],"which":[85],"showcase":[86],"complex":[87],"interactions":[88],"human-comparable":[90],"timescales":[91],"where":[92],"milliseconds":[93],"matter.":[94],"was":[96],"capable":[97],"throwing":[99],"at":[100,113],"speeds":[101,114],"in":[102,115,137,150],"excess":[103,116],"30":[105],"meters":[106,119],"per":[107,120],"second,":[108],"catching":[110],"batting":[112],"14":[118],"second":[121],"over":[122],"short":[124],"7.3-meter":[125],"distance.":[126],"Batting":[127],"practice":[128],"game":[131],"catch":[133],"were":[134],"subsequently":[135],"performed":[136],"robot-to-robot":[138],"human-to-robot":[140],"variations,":[141],"showcasing":[142],"efficacy":[144],"adaptability":[146],"our":[148],"tasks":[151],"require":[153],"high":[154],"acceleration.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2026-09-17T00:00:00"}
