{"id":"https://openalex.org/W1993841629","doi":"https://doi.org/10.1109/iros.2012.6385628","title":"Iterative learning control for a musculoskeletal arm: Utilizing multiple space variables to improve the robustness","display_name":"Iterative learning control for a musculoskeletal arm: Utilizing multiple space variables to improve the robustness","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1993841629","doi":"https://doi.org/10.1109/iros.2012.6385628","mag":"1993841629"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385628","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5010975613","display_name":"Kenji Tahara","orcid":"https://orcid.org/0000-0003-4457-7867"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kenji Tahara","raw_affiliation_strings":["Faculty of Engineering, Kyushu University, Fukuoka, Japan","Faculty of Engineering, Kyushu University, 744 Moto-oka, Nishi-ku, Fukuoka 819-0395, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Faculty of Engineering, Kyushu University, 744 Moto-oka, Nishi-ku, Fukuoka 819-0395, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038385788","display_name":"Yuta Kuboyama","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuta Kuboyama","raw_affiliation_strings":["Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Moto-oka, Nishi-ku, Fukuoka, 819-0395, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Moto-oka, Nishi-ku, Fukuoka, 819-0395, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073445963","display_name":"Ryo Kurazume","orcid":"https://orcid.org/0000-0002-4219-7644"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Kurazume","raw_affiliation_strings":["Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","Faculty of Information Science and Electrical Engineering, Kyushu university, 744 Moto'oka, Nishi-ku, Fukuoka 819-0395, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu university, 744 Moto'oka, Nishi-ku, Fukuoka 819-0395, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5010975613"],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":1.1261,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.81195743,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4620","last_page":"4625"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9991000294685364,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9991000294685364,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9886000156402588,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9801999926567078,"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/robustness","display_name":"Robustness (evolution)","score":0.8965712785720825},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.8002983331680298},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6038326025009155},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5591033697128296},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4397938847541809},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34743785858154297},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23581451177597046},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20755821466445923}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8965712785720825},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8002983331680298},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6038326025009155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5591033697128296},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4397938847541809},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34743785858154297},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23581451177597046},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20755821466445923},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385628","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":13,"referenced_works":["https://openalex.org/W1575389336","https://openalex.org/W1885639605","https://openalex.org/W1892385946","https://openalex.org/W2014387627","https://openalex.org/W2027054489","https://openalex.org/W2031474781","https://openalex.org/W2044776693","https://openalex.org/W2075299328","https://openalex.org/W2141932928","https://openalex.org/W2143005249","https://openalex.org/W2146396918","https://openalex.org/W2167963375","https://openalex.org/W2168029749"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2362086884","https://openalex.org/W1606071314","https://openalex.org/W2350210972","https://openalex.org/W2369126164","https://openalex.org/W1482785882","https://openalex.org/W2376218423"],"abstract_inverted_index":{"In":[0,32],"this":[1],"paper,":[2],"a":[3,15,48,71,91,153],"new":[4,111],"iterative":[5,37,112],"learning":[6,38,113],"control":[7,39,114],"method":[8,40,165],"which":[9,95],"uses":[10],"multiple":[11,119],"space":[12,67,94,104,120],"variables":[13,121],"for":[14,41],"musculoskeletal-like":[16,156],"arm":[17,45],"system":[18,86],"is":[19,78,96,116,135,150,166],"proposed":[20,164],"to":[21,46,122,143],"improve":[22,123],"the":[23,36,42,81,84,99,102,106,110,138,141,159,163,169],"robustness":[24,142],"against":[25],"noises":[26,144],"being":[27],"included":[28],"in":[29,90],"sensory":[30,146],"information.":[31,147],"our":[33],"previous":[34],"works,":[35],"redundant":[43],"musculoskeletal":[44,85],"acquire":[47],"desired":[49],"endpoint":[50],"trajectory":[51],"simultaneous":[52],"with":[53],"an":[54],"adequate":[55],"internal":[56],"force":[57],"was":[58,62],"proposed.":[59],"The":[60],"controller":[61],"designed":[63],"using":[64,152],"only":[65],"muscle":[66,72,100],"variables,":[68],"such":[69],"as":[70],"length":[73],"and":[74,105,126,132,158],"contractile":[75],"velocity.":[76],"It":[77],"known":[79],"that":[80],"movement":[82],"of":[83,98,118,140,145,155,162],"can":[87],"be":[88],"expressed":[89],"hierarchical":[92],"three-layered":[93],"composed":[97,117],"space,":[101],"joint":[103],"task":[107],"space.":[108],"Thus,":[109],"input":[115],"its":[124],"performance":[125],"robustness.":[127],"Numerical":[128],"simulations":[129],"are":[130],"conducted":[131],"their":[133],"result":[134],"evaluated":[136],"from":[137],"viewpoint":[139],"An":[148],"experiment":[149],"performed":[151],"prototype":[154],"manipulator,":[157],"practical":[160],"usefulness":[161],"demonstrated":[167],"through":[168],"result.":[170]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
