{"id":"https://openalex.org/W2044407138","doi":"https://doi.org/10.1109/robio.2011.6181621","title":"Design of humanoid body trunk with &amp;#x201C;multiple spine structure&amp;#x201D; and &amp;#x201C;planar-muscle-driven&amp;#x201D; system for achievement of humanlike powerful and lithe motion","display_name":"Design of humanoid body trunk with &amp;#x201C;multiple spine structure&amp;#x201D; and &amp;#x201C;planar-muscle-driven&amp;#x201D; system for achievement of humanlike powerful and lithe motion","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2044407138","doi":"https://doi.org/10.1109/robio.2011.6181621","mag":"2044407138"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5075737110","display_name":"Masahiko Osada","orcid":"https://orcid.org/0000-0003-1552-9428"},"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":"Masahiko Osada","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056194941","display_name":"Hironori Mizoguchi","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":"Hironori Mizoguchi","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 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, University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063137732","display_name":"Toyotaka Kozuki","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":"Toyotaka Kozuki","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074513731","display_name":"Junichi Urata","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":"Junichi Urata","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100885682","display_name":"Yuto Nakanishi","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":"Yuto Nakanishi","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 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, University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 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, University of Tokyo, Bunkyo, Tokyo, Japan","Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5075737110"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.6295,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.69860262,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2217","last_page":"2222"},"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":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.6173384785652161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6167523264884949},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.49545371532440186},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.4843936562538147},{"id":"https://openalex.org/keywords/muscular-system","display_name":"Muscular system","score":0.44954437017440796},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4376904368400574},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.4337294101715088},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41759616136550903},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3306240141391754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.274175763130188},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1771489381790161},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.11387702822685242},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09180194139480591}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.6173384785652161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6167523264884949},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.49545371532440186},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.4843936562538147},{"id":"https://openalex.org/C499784838","wikidata":"https://www.wikidata.org/wiki/Q7060553","display_name":"Muscular system","level":2,"score":0.44954437017440796},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4376904368400574},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.4337294101715088},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41759616136550903},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3306240141391754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.274175763130188},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1771489381790161},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.11387702822685242},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09180194139480591},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2017585279","https://openalex.org/W2037894732","https://openalex.org/W2040013652","https://openalex.org/W2114876604","https://openalex.org/W2120529242","https://openalex.org/W2129768723","https://openalex.org/W2138671676","https://openalex.org/W2142190957","https://openalex.org/W2154398789","https://openalex.org/W2160741553","https://openalex.org/W2162416262","https://openalex.org/W2166274628","https://openalex.org/W2167793832","https://openalex.org/W2321518545","https://openalex.org/W2546340494","https://openalex.org/W2632463501","https://openalex.org/W2805357227","https://openalex.org/W4245037080","https://openalex.org/W6739942038"],"related_works":["https://openalex.org/W2085009741","https://openalex.org/W2586277234","https://openalex.org/W632015927","https://openalex.org/W1883006668","https://openalex.org/W2340763386","https://openalex.org/W3202495234","https://openalex.org/W3212452115","https://openalex.org/W3010785941","https://openalex.org/W3199745080","https://openalex.org/W3011806615"],"abstract_inverted_index":{"In":[0,134],"recent":[1],"years,":[2],"humanlike":[3,13,33,60],"robots":[4],"have":[5,26],"recieved":[6],"a":[7,15,51,121],"lot":[8],"of":[9,46,149,183],"attension.":[10],"For":[11,49],"making":[12,50],"robots,":[14],"muscu-loskeletal":[16],"humanoid":[17,55],"is":[18,43,138],"an":[19,66,127],"effective":[20],"approach.":[21],"However,":[22],"many":[23],"musculoskeletal":[24],"humanoids":[25],"not":[27],"yet":[28],"been":[29],"equipped":[30],"with":[31,58],"really":[32,59],"bones":[34,61],"and":[35,53,62,70,112,146,160,165],"muscles,":[36,63],"especially":[37],"for":[38,140],"the":[39,44,47,90,101,116,131,136,156,161,167,174,181],"body":[40,56,142,168],"trunk,":[41],"which":[42,125],"core":[45],"robot.":[48],"powerful":[52],"lithe":[54],"trunk":[57,169],"we":[64,104,119,176],"think":[65],"enhanced":[67],"\u201cplanar-muscle-driven\u201d":[68],"system":[69,93],"\u201cmultiple":[71,162],"spine\u201d":[72,163],"structure":[73],"were":[74,105],"keys.":[75],"Planar-muscle-driven":[76],"systems":[77],"move":[78],"several":[79],"wires":[80],"simultaneously":[81],"by":[82],"using":[83],"two":[84],"moving-pulley":[85],"bars":[86],"per":[87,98],"motor,":[88],"while":[89,144],"prior":[91,109],"linear-muscle-driven":[92],"moved":[94],"only":[95],"one":[96],"wire":[97],"motor.":[99],"Using":[100,173],"planar-muscle-driven":[102],"system,":[103],"able":[106],"to":[107,179],"simplify":[108],"complex":[110],"composition":[111],"control":[113],"systems.":[114],"On":[115],"other":[117],"hand,":[118],"proposed":[120],"multiple":[122],"spine":[123],"structure,":[124],"has":[126],"S-curve":[128,137],"alignment":[129],"like":[130],"human":[132,151],"spine.":[133],"human,":[135],"important":[139],"upper":[141],"stability":[143],"walking":[145],"shock":[147],"relaxation":[148],"heavy":[150],"head.":[152],"This":[153],"paper":[154],"describes":[155],"\u201cplanar":[157],"muscle\u201d":[158],"unit":[159],"structures,":[164],"then":[166],"containing":[170],"both":[171],"elements.":[172,185],"model,":[175],"performed":[177],"experiments":[178],"show":[180],"efficacy":[182],"those":[184]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}
