{"id":"https://openalex.org/W2913971027","doi":"https://doi.org/10.1109/lra.2019.2896465","title":"Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints","display_name":"Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints","publication_year":2019,"publication_date":"2019-01-30","ids":{"openalex":"https://openalex.org/W2913971027","doi":"https://doi.org/10.1109/lra.2019.2896465","mag":"2913971027"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2896465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2896465","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5043888149","display_name":"Kenji Kaneko","orcid":"https://orcid.org/0000-0002-1888-8787"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Kaneko","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1888-8787","affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064981052","display_name":"Hiroshi Kaminaga","orcid":"https://orcid.org/0000-0002-8288-7973"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Kaminaga","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8288-7973","affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074889633","display_name":"Takeshi Sakaguchi","orcid":"https://orcid.org/0000-0002-2726-7448"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeshi Sakaguchi","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2726-7448","affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuuji Kajita","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0001-8188-2209","affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuharu Morisawa","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0056-4335","affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046914866","display_name":"Iori Kumagai","orcid":"https://orcid.org/0000-0003-4204-4282"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Iori Kumagai","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4204-4282","affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumio Kanehiro","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0277-3467","affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":6.2577,"has_fulltext":false,"cited_by_count":153,"citation_normalized_percentile":{"value":0.97515565,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"4","issue":"2","first_page":"1431","last_page":"1438"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9886000156402588,"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":0.9883999824523926,"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/humanoid-robot","display_name":"Humanoid robot","score":0.9573636651039124},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6976379156112671},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6300104856491089},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4979128837585449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4887239933013916},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4089469313621521},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38515421748161316},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3582175672054291},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.328258752822876}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9573636651039124},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6976379156112671},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6300104856491089},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4979128837585449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4887239933013916},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4089469313621521},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38515421748161316},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3582175672054291},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.328258752822876}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2896465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2896465","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.4399999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311508","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1909540243","https://openalex.org/W2000535285","https://openalex.org/W2029394778","https://openalex.org/W2074608667","https://openalex.org/W2124838131","https://openalex.org/W2166162370","https://openalex.org/W2205656927","https://openalex.org/W2214607041","https://openalex.org/W2417728065","https://openalex.org/W2516433189","https://openalex.org/W2524272267","https://openalex.org/W2614308505","https://openalex.org/W2773059370","https://openalex.org/W2785527852","https://openalex.org/W2908791578"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2564804538","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W2122369027"],"abstract_inverted_index":{"This":[0],"letter":[1],"introduces":[2],"the":[3,18,28,32,54,92,101,112],"humanoid":[4,21,48,58],"robot":[5],"HRP-5P,":[6],"which":[7],"stands":[8],"for":[9,44],"Humanoid":[10],"Robotics":[11],"Platform-5":[12],"Prototype.":[13],"We":[14],"have":[15,87],"been":[16,88,97],"developing":[17],"HRP":[19,33],"series":[20,34],"robots":[22,59],"since":[23],"2000,":[24],"and":[25,74,111],"HRP-5P":[26],"is":[27,39],"latest":[29],"version":[30],"of":[31,36,56,62,104],"as":[35,41,69],"2018.":[37],"It":[38],"developed":[40],"a":[42],"prototype":[43],"our":[45],"next":[46],"generation":[47],"robotics":[49],"platform,":[50],"aiming":[51],"to":[52,99],"realize":[53,77],"use":[55],"practical":[57],"in":[60,121],"place":[61],"humans":[63],"within":[64],"large-scale":[65],"assembly":[66],"industries":[67],"such":[68],"construction":[70],"sites,":[71],"aircraft":[72],"facilities,":[73],"shipyards.":[75],"To":[76],"it,":[78],"electrically":[79],"actuated":[80],"high-power":[81],"joints":[82],"with":[83,117],"wide":[84],"movable":[85],"range":[86],"newly":[89],"designed.":[90],"Also,":[91],"arm":[93],"configuration":[94],"has":[95],"also":[96],"redesigned":[98],"improve":[100],"physical":[102],"ability":[103],"working":[105],"on":[106],"actual":[107],"sites.":[108],"The":[109],"mechanism":[110],"electrical":[113],"systems":[114],"are":[115],"presented":[116],"its":[118],"basic":[119],"specification":[120],"this":[122],"letter.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":15}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
