{"id":"https://openalex.org/W2412310962","doi":"https://doi.org/10.1109/icra.2016.7487595","title":"Musculoskeletal quadruped robot with Torque-Angle Relationship Control System","display_name":"Musculoskeletal quadruped robot with Torque-Angle Relationship Control System","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2412310962","doi":"https://doi.org/10.1109/icra.2016.7487595","mag":"2412310962"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487595","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5058960117","display_name":"Satoshi Nishikawa","orcid":"https://orcid.org/0000-0003-0905-8615"},"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":"Satoshi Nishikawa","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108742556","display_name":"Kazuya Shida","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":"Kazuya Shida","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010543059","display_name":"Yasuo Kuniyoshi","orcid":"https://orcid.org/0000-0001-8443-4161"},"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":"Yasuo Kuniyoshi","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4044","last_page":"4050"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9965999722480774,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9699000120162964,"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/jumping","display_name":"Jumping","score":0.8306194543838501},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7627049684524536},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7465071678161621},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6194984912872314},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5438880920410156},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5066478848457336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47322309017181396},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.43992263078689575},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3494158983230591},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32072657346725464},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.26894086599349976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13698700070381165},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06813737750053406}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.8306194543838501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7627049684524536},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7465071678161621},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6194984912872314},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5438880920410156},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5066478848457336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47322309017181396},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.43992263078689575},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3494158983230591},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32072657346725464},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.26894086599349976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13698700070381165},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06813737750053406},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487595","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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":18,"referenced_works":["https://openalex.org/W102545820","https://openalex.org/W1607633572","https://openalex.org/W1975175976","https://openalex.org/W1975230295","https://openalex.org/W1994970927","https://openalex.org/W2036412313","https://openalex.org/W2040238080","https://openalex.org/W2111904757","https://openalex.org/W2114376784","https://openalex.org/W2118935785","https://openalex.org/W2122473046","https://openalex.org/W2133091987","https://openalex.org/W2139252876","https://openalex.org/W2161427949","https://openalex.org/W2162830699","https://openalex.org/W2200313040","https://openalex.org/W2315695414","https://openalex.org/W3145265434"],"related_works":["https://openalex.org/W648845647","https://openalex.org/W2381882558","https://openalex.org/W4388849567","https://openalex.org/W2486266915","https://openalex.org/W964501512","https://openalex.org/W2102267190","https://openalex.org/W1995093229","https://openalex.org/W2363955986","https://openalex.org/W2436652189","https://openalex.org/W2771603124"],"abstract_inverted_index":{"Systems":[0],"with":[1,25],"changeable":[2,26],"mechanical":[3],"properties":[4,45],"show":[5],"promise":[6],"for":[7,22],"expanding":[8],"the":[9,16,44,48,51,54,68,72,83,86,93,97,100,133],"applications":[10],"of":[11,50,71,85,96,129,136],"dynamic":[12],"robots.":[13],"We":[14,59],"proposed":[15],"Torque-Angle":[17],"Relationship":[18],"Control":[19],"System":[20],"(TARCS)":[21],"musculoskeletal":[23,106],"robots":[24],"output":[27],"properties.":[28,37],"First,":[29],"we":[30,39,103],"formulated":[31],"TARCS":[32,41,62,76,90,111],"and":[33,46,123],"examined":[34],"its":[35,118,137],"static":[36],"Next,":[38],"used":[40],"to":[42,99,126],"change":[43,82,117],"investigated":[47],"effect":[49],"same":[52],"on":[53],"jumping":[55,119],"ability":[56],"through":[57],"simulations.":[58],"found":[60],"that":[61],"in":[63,77,109],"a":[64,78,105,127],"biarticular":[65],"muscle":[66,80],"determined":[67],"general":[69],"shape":[70],"jumpable":[73,87],"range.":[74,88],"Furthermore,":[75],"monoarticular":[79],"could":[81,116],"amplitude":[84],"Both":[89],"also":[91],"changed":[92],"directional":[94],"property":[95],"reaction":[98],"disturbance.":[101],"Finally,":[102],"developed":[104],"quadruped":[107],"robot":[108,115],"which":[110],"was":[112],"implemented.":[113],"This":[114],"direction":[120],"using":[121],"TARCS,":[122],"it":[124],"jumped":[125],"height":[128],"0.254":[130],"m":[131],"at":[132],"lowest":[134],"point":[135],"body.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}