{"id":"https://openalex.org/W4416749480","doi":"https://doi.org/10.1109/iros60139.2025.11246199","title":"Development of Variable Chain Motor with Shape and Speed-Torque Characteristics Variability and Its Application to a Humanoid","display_name":"Development of Variable Chain Motor with Shape and Speed-Torque Characteristics Variability and Its Application to a Humanoid","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749480","doi":"https://doi.org/10.1109/iros60139.2025.11246199"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246199","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5040824091","display_name":"Hiroaki Tada","orcid":"https://orcid.org/0000-0001-8638-0697"},"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":"Hiromi Tada","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jin Hirai","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":"Jin Hirai","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103113765","display_name":"Takuma Hiraoka","orcid":"https://orcid.org/0009-0002-5681-4903"},"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 Hiraoka","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027035197","display_name":"Masanori Konishi","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":"Masanori Konishi","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104233878","display_name":"Tomoya Himeno","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":"Tomoya Himeno","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072306746","display_name":"Kunio Kojima","orcid":"https://orcid.org/0000-0003-2198-8591"},"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":"Kunio Kojima","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112883439","display_name":"Kei Okada","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":"Kei Okada","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Bunkyo-ku, Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.30436018,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21102","last_page":"21109"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8689000010490417,"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":0.8689000010490417,"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":0.09600000083446503,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.0024999999441206455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/torque","display_name":"Torque","score":0.7487000226974487},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7315000295639038},{"id":"https://openalex.org/keywords/continuously-variable-transmission","display_name":"Continuously variable transmission","score":0.600600004196167},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5910999774932861},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5745999813079834},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4415999948978424},{"id":"https://openalex.org/keywords/electric-motor","display_name":"Electric motor","score":0.4253000020980835},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.4092000126838684}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7487000226974487},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7315000295639038},{"id":"https://openalex.org/C193235527","wikidata":"https://www.wikidata.org/wiki/Q863787","display_name":"Continuously variable transmission","level":3,"score":0.600600004196167},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5910999774932861},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5745999813079834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4925000071525574},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4415999948978424},{"id":"https://openalex.org/C176871988","wikidata":"https://www.wikidata.org/wiki/Q72313","display_name":"Electric motor","level":2,"score":0.4253000020980835},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.4092000126838684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4081000089645386},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.40209999680519104},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.39739999175071716},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.37959998846054077},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3666999936103821},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31769999861717224},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.28279998898506165},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.27079999446868896},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26010000705718994},{"id":"https://openalex.org/C204054776","wikidata":"https://www.wikidata.org/wiki/Q2444432","display_name":"Torque motor","level":5,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246199","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":19,"referenced_works":["https://openalex.org/W1967798374","https://openalex.org/W1974248905","https://openalex.org/W2062127963","https://openalex.org/W2214607041","https://openalex.org/W2241108049","https://openalex.org/W2289926360","https://openalex.org/W2528203311","https://openalex.org/W2785527852","https://openalex.org/W2912795814","https://openalex.org/W2913971027","https://openalex.org/W2948468563","https://openalex.org/W2963317054","https://openalex.org/W2968213087","https://openalex.org/W3004302558","https://openalex.org/W3094119427","https://openalex.org/W3147917477","https://openalex.org/W4205619622","https://openalex.org/W4383097501","https://openalex.org/W4389393796"],"related_works":[],"abstract_inverted_index":{"Various":[0],"methods":[1],"have":[2],"been":[3],"proposed":[4],"to":[5,73,79,118,172],"achieve":[6],"high":[7],"output":[8,13,88,126,141,162],"torque":[9,89,144,163],"and":[10,17,38,66,115,143,164,186],"a":[11,52,92,131,177],"wide":[12],"range":[14,139],"for":[15,36,184],"fast":[16],"high-load":[18,187],"robotic":[19],"motions.":[20],"However,":[21],"in":[22],"robots":[23],"composed":[24],"of":[25,44,76,140,155,176],"slender":[26],"frames,":[27],"such":[28],"as":[29],"humanoid":[30,178],"robots,":[31],"the":[32,42,74,77,102,107,153,156,169,173],"limited":[33],"space":[34],"available":[35],"actuators":[37],"transmission":[39],"components":[40],"restricts":[41],"application":[43],"conventional":[45],"methods.":[46],"In":[47],"this":[48],"paper,":[49],"we":[50,180],"propose":[51],"Variable":[53],"Chain":[54],"Motor":[55,159,171],"(VC":[56],"Motor),":[57],"an":[58,137],"electric":[59],"actuator":[60,78,108],"that":[61],"features":[62],"both":[63],"shape":[64],"variability":[65,71,123],"speed-torque":[67],"characteristics":[68,122,127],"variability.":[69],"Shape":[70],"refers":[72],"ability":[75],"change":[80],"its":[81,182],"form":[82],"during":[83,128],"operation.":[84],"This":[85,135],"property":[86],"enhances":[87],"by":[90,101,160,167],"enabling":[91],"dense":[93],"motor":[94],"arrangement":[95],"even":[96],"under":[97],"spatial":[98],"constraints":[99],"imposed":[100],"frame":[103],"structure.":[104],"For":[105],"example,":[106],"can":[109],"be":[110],"placed":[111],"across":[112],"adjacent":[113],"frames":[114],"deform":[116],"according":[117],"joint":[119,175],"rotation.":[120],"Speed-torque":[121],"allows":[124],"switching":[125],"operation":[129],"using":[130],"dedicated":[132],"electrical":[133],"circuit.":[134],"enables":[136],"expanded":[138],"speed":[142],"without":[145],"significantly":[146],"increasing":[147],"size":[148],"or":[149],"weight.":[150],"We":[151],"evaluated":[152],"performance":[154],"developed":[157],"VC":[158,170],"measuring":[161],"efficiency.":[165],"Furthermore,":[166],"applying":[168],"elbow":[174],"robot,":[179],"demonstrated":[181],"capability":[183],"high-speed":[185],"operations.":[188]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}
