{"id":"https://openalex.org/W4401417358","doi":"https://doi.org/10.1109/icra57147.2024.10610081","title":"Self Model for Embodied Intelligence: Modeling Full-Body Human Musculoskeletal System and Locomotion Control with Hierarchical Low-Dimensional Representation","display_name":"Self Model for Embodied Intelligence: Modeling Full-Body Human Musculoskeletal System and Locomotion Control with Hierarchical Low-Dimensional Representation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417358","doi":"https://doi.org/10.1109/icra57147.2024.10610081"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610081","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100580961","display_name":"Chenhui Zuo","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenhui Zuo","raw_affiliation_strings":["Tsinghua University,National Engineering Research Center of Neuromodulation, School of Aerospace Engineering,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,National Engineering Research Center of Neuromodulation, School of Aerospace Engineering,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101394369","display_name":"Kaibo He","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaibo He","raw_affiliation_strings":["Tsinghua University,National Engineering Research Center of Neuromodulation, School of Aerospace Engineering,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,National Engineering Research Center of Neuromodulation, School of Aerospace Engineering,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102006926","display_name":"Jing Shao","orcid":"https://orcid.org/0000-0002-2500-2366"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Shao","raw_affiliation_strings":["Tsinghua University,National Engineering Research Center of Neuromodulation, School of Aerospace Engineering,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,National Engineering Research Center of Neuromodulation, School of Aerospace Engineering,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069290448","display_name":"Yanan Sui","orcid":"https://orcid.org/0000-0002-9480-627X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanan Sui","raw_affiliation_strings":["Tsinghua University,National Engineering Research Center of Neuromodulation, School of Aerospace Engineering,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,National Engineering Research Center of Neuromodulation, School of Aerospace Engineering,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100580961"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.7599,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.83894359,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"13062","last_page":"13069"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9958000183105469,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9958000183105469,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9883999824523926,"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/embodied-cognition","display_name":"Embodied cognition","score":0.8406941890716553},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.7289308905601501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6497741937637329},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5225500464439392},{"id":"https://openalex.org/keywords/hierarchical-control-system","display_name":"Hierarchical control system","score":0.4526396691799164},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.443528413772583},{"id":"https://openalex.org/keywords/hierarchical-database-model","display_name":"Hierarchical database model","score":0.42514997720718384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3333921432495117},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.08839592337608337}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.8406941890716553},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7289308905601501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6497741937637329},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5225500464439392},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.4526396691799164},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.443528413772583},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.42514997720718384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3333921432495117},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.08839592337608337},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610081","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1484809412","https://openalex.org/W1549114171","https://openalex.org/W1549689122","https://openalex.org/W1571344971","https://openalex.org/W1779974355","https://openalex.org/W1959608418","https://openalex.org/W1972837991","https://openalex.org/W1991207049","https://openalex.org/W2003584832","https://openalex.org/W2015975542","https://openalex.org/W2034400748","https://openalex.org/W2036826589","https://openalex.org/W2064885421","https://openalex.org/W2070510586","https://openalex.org/W2071371093","https://openalex.org/W2089745666","https://openalex.org/W2094217503","https://openalex.org/W2115455197","https://openalex.org/W2130281033","https://openalex.org/W2133220762","https://openalex.org/W2147804103","https://openalex.org/W2151073730","https://openalex.org/W2158782408","https://openalex.org/W2160382929","https://openalex.org/W2470342634","https://openalex.org/W2756277854","https://openalex.org/W2779458783","https://openalex.org/W2793955514","https://openalex.org/W2904246096","https://openalex.org/W2919962803","https://openalex.org/W2943482418","https://openalex.org/W2958043083","https://openalex.org/W2963125762","https://openalex.org/W2965332476","https://openalex.org/W3048846969","https://openalex.org/W3137335329","https://openalex.org/W3205669582","https://openalex.org/W4200634924","https://openalex.org/W4224879709","https://openalex.org/W4241874243","https://openalex.org/W4251465078","https://openalex.org/W4281899366","https://openalex.org/W4285102652","https://openalex.org/W4385403854","https://openalex.org/W4385891453","https://openalex.org/W4386554571","https://openalex.org/W6632872799","https://openalex.org/W6764494008","https://openalex.org/W6809907836","https://openalex.org/W6838807395","https://openalex.org/W6838955714","https://openalex.org/W6847486558","https://openalex.org/W6856613825"],"related_works":["https://openalex.org/W2500657027","https://openalex.org/W4206392734","https://openalex.org/W2077012825","https://openalex.org/W2028274662","https://openalex.org/W3043388626","https://openalex.org/W2731083674","https://openalex.org/W2338802643","https://openalex.org/W2079095842","https://openalex.org/W2116512232","https://openalex.org/W2615268635"],"abstract_inverted_index":{"Modeling":[0],"and":[1,18,37,79,88,101,118,152],"control":[2,133,151],"of":[3,34,43,50,53,85,115,148,155],"the":[4,113,140],"human":[5,12,25,61,124,149],"musculoskele-tal":[6],"system":[7],"is":[8,46],"important":[9],"for":[10],"understanding":[11,147],"motor":[13],"functions,":[14],"developing":[15],"embodied":[16],"intelligence,":[17],"optimizing":[19],"human-robot":[20],"interaction":[21,89],"systems.":[22],"However,":[23],"current":[24],"musculoskeletal":[26,70,128],"models":[27],"are":[28],"restricted":[29],"to":[30,58,106,139,143],"a":[31,40,48,69,95,145],"limited":[32],"range":[33],"body":[35,75],"parts":[36],"often":[38],"with":[39,73,90,122,131],"reduced":[41],"number":[42],"muscles.":[44],"There":[45],"also":[47],"lack":[49],"algorithms":[51],"capable":[52],"controlling":[54],"over":[55],"600":[56],"muscles":[57],"generate":[59],"reasonable":[60],"movements.":[62],"To":[63],"fill":[64],"this":[65],"gap,":[66],"we":[67],"build":[68],"model":[71,117],"(MS-HUMAN-700)":[72],"90":[74],"segments,":[76],"206":[77],"joints,":[78],"700":[80],"muscle-tendon":[81],"units,":[82],"allowing":[83],"simulation":[84],"full-body":[86,109],"dynamics":[87],"various":[91],"devices.":[92],"We":[93,111],"develop":[94],"new":[96],"algorithm":[97,119],"using":[98],"low-dimensional":[99],"representation":[100],"hierarchical":[102],"deep":[103],"reinforcement":[104],"learning":[105],"achieve":[107],"state-of-the-art":[108],"control.":[110],"validate":[112],"effectiveness":[114],"our":[116],"in":[120],"simulations":[121],"real":[123],"locomotion":[125],"data.":[126],"The":[127],"model,":[129],"along":[130],"its":[132],"algorithm,":[134],"will":[135],"be":[136],"made":[137],"available":[138],"research":[141],"community":[142],"promote":[144],"deeper":[146],"motion":[150],"better":[153],"design":[154],"interactive":[156],"robots.Project":[157],"page:":[158],"https://lnsgroup.cc/research/MS-Human-700":[159]},"counts_by_year":[{"year":2025,"cited_by_count":9}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}