{"id":"https://openalex.org/W4389664936","doi":"https://doi.org/10.1109/lra.2023.3342667","title":"Design Optimization of Wire Arrangement With Variable Relay Points in Numerical Simulation for Tendon-Driven Robots","display_name":"Design Optimization of Wire Arrangement With Variable Relay Points in Numerical Simulation for Tendon-Driven Robots","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4389664936","doi":"https://doi.org/10.1109/lra.2023.3342667"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3342667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3342667","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/2401.02730","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":true,"raw_author_name":"Kento Kawaharazuka","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102847444","display_name":"Shunnosuke Yoshimura","orcid":"https://orcid.org/0009-0000-0618-4144"},"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":"Shunnosuke Yoshimura","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027473785","display_name":"Temma Suzuki","orcid":"https://orcid.org/0009-0007-6802-4809"},"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":"Temma Suzuki","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, 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, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, 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, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5087094940"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.9238,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.75755683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9","issue":"2","first_page":"1388","last_page":"1395"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973999857902527,"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/relay","display_name":"Relay","score":0.7457167506217957},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6227920651435852},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.559341311454773},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5587319135665894},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5202777981758118},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4705909490585327},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4191184937953949},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3569968342781067},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3328644037246704},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2352513074874878},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13456740975379944},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12696591019630432},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10940352082252502},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06848111748695374}],"concepts":[{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.7457167506217957},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6227920651435852},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.559341311454773},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5587319135665894},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5202777981758118},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4705909490585327},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4191184937953949},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3569968342781067},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3328644037246704},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2352513074874878},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13456740975379944},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12696591019630432},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10940352082252502},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06848111748695374},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3342667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3342667","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:2401.02730","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2401.02730","pdf_url":"https://arxiv.org/pdf/2401.02730","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:2401.02730","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2401.02730","pdf_url":"https://arxiv.org/pdf/2401.02730","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":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389664936.pdf"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W2037178089","https://openalex.org/W2052023157","https://openalex.org/W2150443439","https://openalex.org/W2311803749","https://openalex.org/W2565474257","https://openalex.org/W2761143270","https://openalex.org/W2909913341","https://openalex.org/W2912795814","https://openalex.org/W2949676527","https://openalex.org/W2962897394","https://openalex.org/W3003170810","https://openalex.org/W3093987621","https://openalex.org/W4200318382","https://openalex.org/W4212808529","https://openalex.org/W4312463286","https://openalex.org/W4389667326"],"related_works":["https://openalex.org/W2539674285","https://openalex.org/W1038122923","https://openalex.org/W1998322187","https://openalex.org/W2952514781","https://openalex.org/W3019210376","https://openalex.org/W2391145594","https://openalex.org/W2326572623","https://openalex.org/W1559320887","https://openalex.org/W2137838797","https://openalex.org/W2284606164"],"abstract_inverted_index":{"One":[0],"of":[1,6,12,18,25,57],"the":[2,10,16,23,30,35,49,54,107,126,136],"most":[3],"important":[4],"features":[5],"tendon-driven":[7],"robots":[8],"is":[9,92],"ease":[11],"wire":[13,36,38,66,84,91],"arrangement":[14,39,85],"and":[15,72,101,105,131,134],"degree":[17],"freedom":[19],"it":[20],"affords,":[21],"enabling":[22],"construction":[24],"a":[26,81,95,117],"body":[27],"that":[28,53,68],"satisfies":[29],"desired":[31,108],"characteristics":[32],"by":[33,51,64,94],"modifying":[34],"arrangement.Various":[37],"optimization":[40,86,119,137],"methods":[41],"have":[42,47],"been":[43],"proposed,":[44],"but":[45],"they":[46],"simplified":[48],"configuration":[50],"assuming":[52],"moment":[55],"arm":[56],"wires":[58],"to":[59],"joints":[60,71],"are":[61],"constant,":[62],"or":[63],"disregarding":[65],"arrangements":[67],"span":[69],"multiple":[70,98],"include":[73],"relay":[74,99],"points.":[75],"In":[76],"this":[77],"letter,":[78],"we":[79],"formulate":[80],"more":[82],"flexible":[83],"problem":[87],"in":[88],"which":[89,120],"each":[90],"represented":[93],"start":[96],"point,":[97,104],"points,":[100],"an":[102],"end":[103],"achieve":[106],"physical":[109],"performance":[110],"based":[111],"on":[112],"black-box":[113],"optimization.":[114],"We":[115],"consider":[116],"multi-objective":[118],"simultaneously":[121],"takes":[122],"into":[123],"account":[124],"both":[125],"feasible":[127],"operational":[128],"force":[129],"space":[130],"velocity":[132],"space,":[133],"discuss":[135],"results":[138],"obtained":[139],"from":[140],"various":[141],"configurations.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2023-12-14T00:00:00"}