{"id":"https://openalex.org/W2020175396","doi":"https://doi.org/10.1109/humanoids.2012.6651491","title":"Design concept of detail musculoskeletal humanoid “Kenshiro” - Toward a real human body musculoskeletal simulator","display_name":"Design concept of detail musculoskeletal humanoid “Kenshiro” - Toward a real human body musculoskeletal simulator","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2020175396","doi":"https://doi.org/10.1109/humanoids.2012.6651491","mag":"2020175396"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100885682","display_name":"Yuto Nakanishi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuto Nakanishi","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044477785","display_name":"Yuki Asano","orcid":"https://orcid.org/0000-0003-2115-1417"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Asano","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063137732","display_name":"Toyotaka Kozuki","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toyotaka Kozuki","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056194941","display_name":"Hironori Mizoguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hironori Mizoguchi","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018518489","display_name":"Yotaro Motegi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yotaro Motegi","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075737110","display_name":"Masahiko Osada","orcid":"https://orcid.org/0000-0003-1552-9428"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiko Osada","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100919783","display_name":"Takuma Shirai","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuma Shirai","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074513731","display_name":"Junichi Urata","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Junichi Urata","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5100885682"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":2.8238,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.89860786,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9943000078201294,"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"}},{"id":"https://openalex.org/T10441","display_name":"Muscle Physiology and Disorders","score":0.9503999948501587,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7700808644294739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6104201078414917},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.595283031463623},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5119582414627075},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.49764493107795715},{"id":"https://openalex.org/keywords/human-muscle","display_name":"Human muscle","score":0.4456692636013031},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2132394015789032},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1427215039730072}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7700808644294739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6104201078414917},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.595283031463623},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5119582414627075},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49764493107795715},{"id":"https://openalex.org/C2993909470","wikidata":"https://www.wikidata.org/wiki/Q1048687","display_name":"Human muscle","level":3,"score":0.4456692636013031},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2132394015789032},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1427215039730072},{"id":"https://openalex.org/C2779959927","wikidata":"https://www.wikidata.org/wiki/Q1048687","display_name":"Skeletal muscle","level":2,"score":0.0},{"id":"https://openalex.org/C134018914","wikidata":"https://www.wikidata.org/wiki/Q162606","display_name":"Endocrinology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2012.6651491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1518112579","https://openalex.org/W1966716675","https://openalex.org/W2044407138","https://openalex.org/W2099589908","https://openalex.org/W2107632757","https://openalex.org/W2111016163","https://openalex.org/W2120693140","https://openalex.org/W2154398789","https://openalex.org/W2157796157","https://openalex.org/W2159593326","https://openalex.org/W2184629629","https://openalex.org/W2546340494","https://openalex.org/W2564069747","https://openalex.org/W3143549859","https://openalex.org/W3147253688","https://openalex.org/W6686442062"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W1991876829","https://openalex.org/W2295425790","https://openalex.org/W2088677124","https://openalex.org/W2122369027","https://openalex.org/W1974803039","https://openalex.org/W1569471492","https://openalex.org/W3106073779"],"abstract_inverted_index":{"We":[0],"have":[1],"developed":[2],"and":[3,26,31,35,78],"studied":[4],"musculoskeletal":[5,49,66],"humanoids.":[6],"Our":[7],"goal":[8],"is":[9,44,89],"to":[10,47],"realize":[11],"a":[12,17,54],"more":[13],"human-like":[14],"humanoid":[15,67],"as":[16,29,38,40],"real":[18],"human":[19],"simulator,":[20],"which":[21,51,88],"has":[22],"the":[23,72,81,90],"same":[24],"muscle":[25],"joint":[27],"arrangements":[28],"human's":[30],"can":[32,52],"do":[33],"natural":[34],"dynamic":[36],"motions":[37],"well":[39],"humans.":[41],"Especially,":[42],"it":[43],"very":[45],"challenging":[46],"design":[48,63],"structure":[50],"contain":[53],"large":[55],"number":[56],"of":[57,74,83,93],"high":[58],"powered":[59],"muscles.":[60],"Now,":[61],"we":[62],"new":[64,76],"fullbody":[65],"Kenshiro.":[68],"This":[69],"paper":[70],"presents":[71],"concepts":[73],"this":[75],"robot":[77,96],"also":[79],"shows":[80],"outline":[82],"our":[84,94],"latest":[85],"results":[86],"Kenshiro,":[87],"succeeding":[91],"version":[92],"previous":[95],"Kojiro.":[97]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}