{"id":"https://openalex.org/W3006595702","doi":"https://doi.org/10.1109/lra.2020.2972841","title":"Musculoskeletal AutoEncoder: A Unified Online Acquisition Method of Intersensory Networks for State Estimation, Control, and Simulation of Musculoskeletal Humanoids","display_name":"Musculoskeletal AutoEncoder: A Unified Online Acquisition Method of Intersensory Networks for State Estimation, Control, and Simulation of Musculoskeletal Humanoids","publication_year":2020,"publication_date":"2020-02-11","ids":{"openalex":"https://openalex.org/W3006595702","doi":"https://doi.org/10.1109/lra.2020.2972841","mag":"3006595702"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2972841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972841","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2406.17134","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187"},"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":"Kento Kawaharazuka","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7464-7187","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003041497","display_name":"Kei Tsuzuki","orcid":"https://orcid.org/0000-0002-7406-5523"},"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 Tsuzuki","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7406-5523","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028275081","display_name":"Moritaka Onitsuka","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":"Moritaka Onitsuka","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044477785","display_name":"Yuki Asano","orcid":"https://orcid.org/0000-0003-2115-1417"},"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":"Yuki Asano","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2115-1417","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, 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, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102792995","display_name":"Koji Kawasaki","orcid":"https://orcid.org/0000-0001-7807-8420"},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koji Kawasaki","raw_affiliation_strings":["Toyota Motor Corporation, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Motor Corporation, Aichi, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"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, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","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":1.6556,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.82296433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"2411","last_page":"2418"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9955000281333923,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9908999800682068,"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/autoencoder","display_name":"Autoencoder","score":0.799328088760376},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.5801692605018616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5518949627876282},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.546514093875885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5459961891174316},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5282555818557739},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5208390355110168},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4905323386192322},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4381631910800934},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4117096960544586},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34210455417633057},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3205917477607727},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.19786489009857178}],"concepts":[{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.799328088760376},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.5801692605018616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5518949627876282},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.546514093875885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5459961891174316},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5282555818557739},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5208390355110168},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4905323386192322},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4381631910800934},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4117096960544586},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34210455417633057},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3205917477607727},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.19786489009857178},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2972841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972841","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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"},{"id":"pmh:oai:arXiv.org:2406.17134","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.17134","pdf_url":"https://arxiv.org/pdf/2406.17134","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2406.17134","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.17134","pdf_url":"https://arxiv.org/pdf/2406.17134","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3006595702.pdf","grobid_xml":"https://content.openalex.org/works/W3006595702.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1485180694","https://openalex.org/W1498436455","https://openalex.org/W1522301498","https://openalex.org/W1967843104","https://openalex.org/W2003177125","https://openalex.org/W2031452332","https://openalex.org/W2034108955","https://openalex.org/W2037178089","https://openalex.org/W2067690526","https://openalex.org/W2100495367","https://openalex.org/W2117268954","https://openalex.org/W2119796324","https://openalex.org/W2141087051","https://openalex.org/W2172023907","https://openalex.org/W2218688218","https://openalex.org/W2566215047","https://openalex.org/W2567903673","https://openalex.org/W2569517946","https://openalex.org/W2781951040","https://openalex.org/W2908823075","https://openalex.org/W2914806012","https://openalex.org/W2949272011","https://openalex.org/W2964121744","https://openalex.org/W3003170810","https://openalex.org/W6631190155"],"related_works":["https://openalex.org/W3013693939","https://openalex.org/W2159052453","https://openalex.org/W2566616303","https://openalex.org/W3131327266","https://openalex.org/W2734887215","https://openalex.org/W4297051394","https://openalex.org/W2752972570","https://openalex.org/W2145836866","https://openalex.org/W2803255133","https://openalex.org/W2909431601"],"abstract_inverted_index":{"While":[0],"the":[1,8,68,96,101,119,127,133],"musculoskeletal":[2,90,128],"humanoid":[3,129],"has":[4],"various":[5,27],"biomimetic":[6],"benefits,":[7],"modeling":[9],"of":[10,83,89,135],"its":[11],"complex":[12],"structure":[13],"is":[14],"difficult,":[15],"and":[16,38,48,75,78,87,115,131],"many":[17],"learning-based":[18],"systems":[19],"have":[20],"been":[21],"developed":[22],"so":[23],"far.":[24],"There":[25],"are":[26],"methods,":[28],"such":[29],"as":[30],"control":[31],"methods":[32,51],"using":[33,52,92,100,126],"acquired":[34],"relationships":[35],"between":[36],"joints":[37],"muscles":[39],"represented":[40],"by":[41],"a":[42,64,80],"data":[43],"table":[44,57],"or":[45,56],"neural":[46],"network,":[47],"state":[49,84,112],"estimation":[50],"Extended":[53],"Kalman":[54],"Filter":[55],"search.":[58],"In":[59],"this":[60,136],"letter,":[61],"we":[62,106],"construct":[63],"Musculoskeletal":[65,97],"AutoEncoder":[66,98],"representing":[67],"relationship":[69],"among":[70],"joint":[71],"angles,":[72],"muscle":[73,76],"tensions,":[74],"lengths,":[77],"propose":[79],"unified":[81],"method":[82],"estimation,":[85,113],"control,":[86,114],"simulation":[88,116],"humanoids":[91],"it.":[93],"By":[94],"updating":[95],"online":[99,120],"actual":[102],"robot":[103],"sensor":[104],"information,":[105],"can":[107],"continuously":[108],"conduct":[109],"more":[110],"accurate":[111],"than":[117],"before":[118],"learning.":[121],"We":[122],"conducted":[123],"several":[124],"experiments":[125],"Musashi,":[130],"verified":[132],"effectiveness":[134],"study.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}