{"id":"https://openalex.org/W3180469863","doi":"https://doi.org/10.1109/lra.2021.3095318","title":"Self-Body Image Acquisition and Posture Generation With Redundancy Using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation","display_name":"Self-Body Image Acquisition and Posture Generation With Redundancy Using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3180469863","doi":"https://doi.org/10.1109/lra.2021.3095318","mag":"3180469863"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3095318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3095318","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/2411.06320","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036876280","display_name":"Yuya Koga","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":"Yuya Koga","raw_affiliation_strings":["JSK Laboratory, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JSK Laboratory, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","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":["JSK Laboratory, University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7464-7187","affiliations":[{"raw_affiliation_string":"JSK Laboratory, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051624448","display_name":"Yasunori Toshimitsu","orcid":"https://orcid.org/0000-0003-4896-8742"},"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":"Yasunori Toshimitsu","raw_affiliation_strings":["JSK Laboratory, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JSK Laboratory, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081646598","display_name":"Manabu Nishiura","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":"Manabu Nishiura","raw_affiliation_strings":["JSK Laboratory, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JSK Laboratory, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081337042","display_name":"Yusuke Omura","orcid":"https://orcid.org/0000-0003-4076-5633"},"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":"Yusuke Omura","raw_affiliation_strings":["JSK Laboratory, University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4076-5633","affiliations":[{"raw_affiliation_string":"JSK Laboratory, 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":["JSK Laboratory, University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2115-1417","affiliations":[{"raw_affiliation_string":"JSK Laboratory, 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":["JSK Laboratory, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JSK Laboratory, 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, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TOYOTA MOTOR CORPORATION, Tokyo, 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":["JSK Laboratory, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JSK Laboratory, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4246,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.5705073,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"6","issue":"4","first_page":"6686","last_page":"6692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9997000098228455,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9988999962806702,"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/redundancy","display_name":"Redundancy (engineering)","score":0.6786296367645264},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5978055596351624},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.595007061958313},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5716127157211304},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5619682669639587},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5510556697845459},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5066717267036438},{"id":"https://openalex.org/keywords/human-body","display_name":"Human body","score":0.4703410267829895},{"id":"https://openalex.org/keywords/shoulder-joint","display_name":"Shoulder joint","score":0.4358980059623718},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35388731956481934},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23016217350959778},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.14383497834205627},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09859439730644226}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6786296367645264},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5978055596351624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.595007061958313},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5716127157211304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5619682669639587},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5510556697845459},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5066717267036438},{"id":"https://openalex.org/C193293595","wikidata":"https://www.wikidata.org/wiki/Q23852","display_name":"Human body","level":2,"score":0.4703410267829895},{"id":"https://openalex.org/C2780457017","wikidata":"https://www.wikidata.org/wiki/Q1758798","display_name":"Shoulder joint","level":2,"score":0.4358980059623718},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35388731956481934},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23016217350959778},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.14383497834205627},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09859439730644226},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3095318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3095318","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:2411.06320","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.06320","pdf_url":"https://arxiv.org/pdf/2411.06320","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:2411.06320","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.06320","pdf_url":"https://arxiv.org/pdf/2411.06320","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/W3180469863.pdf","grobid_xml":"https://content.openalex.org/works/W3180469863.grobid-xml"},"referenced_works_count":13,"referenced_works":["https://openalex.org/W2003177125","https://openalex.org/W2010309612","https://openalex.org/W2020175396","https://openalex.org/W2050488622","https://openalex.org/W2064130592","https://openalex.org/W2154398789","https://openalex.org/W2157056019","https://openalex.org/W2569517946","https://openalex.org/W2775012877","https://openalex.org/W2781951040","https://openalex.org/W2949272011","https://openalex.org/W2963305763","https://openalex.org/W3024585394"],"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/W2962851396","https://openalex.org/W2786331404"],"abstract_inverted_index":{"We":[0,201],"proposed":[1],"a":[2,11,46,67,73,97,133,137,174,178,207,222],"method":[3,33,100,175],"for":[4,14,195],"learning":[5],"the":[6,26,51,76,84,93,103,107,116,122,126,188,196,203,228],"actual":[7],"body":[8,147],"image":[9,180],"of":[10,31,70,75,106,125,198,231],"musculoskeletal":[12,209],"humanoid":[13],"posture":[15,98],"generation":[16,99],"and":[17,54,59,91,212],"object":[18,194,199],"manipulation":[19],"using":[20],"inverse":[21,112],"kinematics":[22,113],"with":[23],"redundancy":[24,86,105],"in":[25],"shoulder":[27,43,79,108],"complex.":[28],"The":[29,42],"effectiveness":[30,215],"this":[32,170],"was":[34],"confirmed":[35],"by":[36,62,87,121,186,216],"realizing":[37],"automobile":[38],"steering":[39,224],"wheel":[40],"operation.":[41],"complex":[44,134],"has":[45],"scapula":[47],"that":[48,181],"glides":[49],"over":[50],"rib":[52],"cage":[53],"an":[55,193,218],"open":[56],"spherical":[57],"joint,":[58],"is":[60,141,151,164],"supported":[61],"numerous":[63],"muscle":[64,85],"groups,":[65],"enabling":[66],"wide":[68],"range":[69],"motion.":[71],"As":[72,96],"development":[74],"human":[77,127,138],"mimetic":[78],"complex,":[80,109],"we":[81,110,172],"have":[82],"increased":[83],"implementing":[88],"deep":[89],"muscles":[90],"stabilize":[92],"joint":[94,104],"drive.":[95],"to":[101,131,143,153,160,166,176,192,206,220],"utilize":[102],"consider":[111],"based":[114],"on":[115],"scapular":[117],"drive":[118],"strategy":[119],"suggested":[120],"scapulohumeral":[123],"rhythm":[124],"body.":[128],"In":[129],"order":[130],"control":[132],"robot":[135],"imitating":[136],"body,":[139],"it":[140,150],"essential":[142],"learn":[144],"its":[145,155,161,214],"own":[146,156],"image,":[148],"but":[149],"difficult":[152,165],"know":[154],"state":[157],"accurately":[158],"due":[159],"deformation":[162],"which":[163,226],"measure.":[167],"To":[168],"solve":[169],"problem,":[171],"developed":[173],"acquire":[177],"self-body":[179],"can":[182],"be":[183],"updated":[184],"appropriately":[185],"recognizing":[187],"hand":[189],"position":[190],"relative":[191],"purpose":[197],"manipulation.":[200],"apply":[202],"above":[204],"methods":[205],"full-body":[208],"humanoid,":[210],"Kengoro,":[211],"confirm":[213],"conducting":[217],"experiment":[219],"operate":[221],"car":[223],"wheel,":[225],"requires":[227],"appropriate":[229],"use":[230],"both":[232],"arms.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
