{"id":"https://openalex.org/W2075590970","doi":"https://doi.org/10.1109/iros.2012.6386220","title":"Achievement of complex contact motion with environments by musculoskeletal humanoid using humanlike shock absorption strategy","display_name":"Achievement of complex contact motion with environments by musculoskeletal humanoid using humanlike shock absorption strategy","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2075590970","doi":"https://doi.org/10.1109/iros.2012.6386220","mag":"2075590970"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386220","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/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-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 JAPAN","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026592866","display_name":"Tamon Izawa","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":"Tamon Izawa","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 JAPAN","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057333200","display_name":"Tomoko Kurotobi","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":"Tomoko Kurotobi","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 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-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 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-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 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-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, 113-8656 JAPAN","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100885682"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.4034,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.64559977,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"5","issue":null,"first_page":"1815","last_page":"1820"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9951000213623047,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/shock-absorber","display_name":"Shock absorber","score":0.7422261834144592},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.720988929271698},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5841178297996521},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.514281690120697},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5036291480064392},{"id":"https://openalex.org/keywords/shock","display_name":"Shock (circulatory)","score":0.4656086266040802},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4492458701133728},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.41647979617118835},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34995222091674805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30870819091796875},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23594650626182556},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11501863598823547}],"concepts":[{"id":"https://openalex.org/C190743461","wikidata":"https://www.wikidata.org/wiki/Q211251","display_name":"Shock absorber","level":2,"score":0.7422261834144592},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.720988929271698},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5841178297996521},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.514281690120697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5036291480064392},{"id":"https://openalex.org/C2781300812","wikidata":"https://www.wikidata.org/wiki/Q178061","display_name":"Shock (circulatory)","level":2,"score":0.4656086266040802},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4492458701133728},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.41647979617118835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34995222091674805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30870819091796875},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23594650626182556},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11501863598823547},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386220","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1496737830","https://openalex.org/W1885639605","https://openalex.org/W1966716675","https://openalex.org/W1992627793","https://openalex.org/W2019088203","https://openalex.org/W2086373778","https://openalex.org/W2089043380","https://openalex.org/W2113873479","https://openalex.org/W2129629060","https://openalex.org/W2134705688","https://openalex.org/W2139086916","https://openalex.org/W2546340494"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W4212776037","https://openalex.org/W2912866206","https://openalex.org/W4247328018","https://openalex.org/W2383843940","https://openalex.org/W2736377729","https://openalex.org/W3099371566","https://openalex.org/W2140202759"],"abstract_inverted_index":{"We":[0,170],"have":[1,59,92],"been":[2],"developing":[3],"and":[4,20,41,78,128,146,159,192],"studying":[5],"musculoskeletal":[6,120,189],"humanoids.":[7,53],"Our":[8],"goal":[9],"is":[10,35,103,140],"to":[11,49,60,67,107,188],"realize":[12],"more":[13],"human-like":[14],"humanoids":[15,82],"which":[16,34,102,122],"can":[17,90,148],"do":[18],"natural":[19],"dynamic":[21],"motions":[22,28],"as":[23,25,65,73,177],"well":[24],"humans.":[26],"Especially":[27],"with":[29,32,167],"complex":[30,181],"contact":[31,182],"environments,":[33],"jumping,":[36],"running,":[37],"catching":[38,173,201],"a":[39,172,174,202],"ball,":[40],"landing":[42],"on":[43,135],"one's":[44],"hands,":[45],"etc,":[46],"are":[47,83],"difficult":[48],"be":[50],"achieved":[51],"by":[52,98,119,142,164,199],"To":[54],"achieve":[55,149],"that":[56],"motions,":[57,183],"robots":[58,166],"absorb":[61],"shock":[62,96,116,150],"force":[63],"so":[64,79],"not":[66],"break":[68],"ones'":[69],"body":[70,76],"structures,":[71],"such":[72],"gears,":[74],"motors,":[75],"links":[77],"on.":[80],"Musculo-skeletal":[81],"suited":[84],"for":[85,95],"these":[86],"situations,":[87],"because":[88],"they":[89],"easily":[91],"mechanical":[93,126],"flexibilit":[94,127],"absorption":[97,117,151],"adding":[99],"elastic":[100],"units,":[101,106],"nonlinear":[104],"spring":[105],"its":[108,124],"own":[109,125],"tendons.":[110],"In":[111],"this":[112],"paper,":[113],"we":[114],"propose":[115],"methods":[118],"humanoids,":[121],"uses":[123],"simple":[129],"refle":[130],"of":[131,180,196],"each":[132],"muscles":[133],"based":[134],"tension":[136],"sensor.":[137],"This":[138],"strategy":[139,187],"inspired":[141],"human's":[143],"motion":[144],"control,":[145],"it":[147],"tasks":[152],"without":[153],"any":[154,160],"fast":[155],"sensor":[156],"feedback":[157],"controls":[158],"prediction":[161],"ocntrols":[162],"used":[163],"conventional":[165],"rigid":[168],"bodies.":[169],"chose":[171],"ball":[175,203],"task":[176],"an":[178],"example":[179],"implemented":[184],"the":[185,194],"proposed":[186,197],"humanoid":[190],"Kenzoh":[191],"confirme":[193],"feasibility":[195],"method":[198],"actually":[200],"demonstration.":[204]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}