{"id":"https://openalex.org/W2154398789","doi":"https://doi.org/10.1109/robot.2006.1641165","title":"Development of musculoskeletal humanoid Kotaro","display_name":"Development of musculoskeletal humanoid Kotaro","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2154398789","doi":"https://doi.org/10.1109/robot.2006.1641165","mag":"2154398789"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641165","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5050888954","display_name":"Ikuo Mizuuchi","orcid":"https://orcid.org/0000-0003-4657-2613"},"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":"I. Mizuuchi","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039945220","display_name":"Tomoaki Yoshikai","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":"T. Yoshikai","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060205749","display_name":"Yoshinao Sodeyama","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":"Y. Sodeyama","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101435092","display_name":"Yosuke Nakanishi","orcid":"https://orcid.org/0000-0002-3370-6128"},"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":"Y. Nakanishi","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013660960","display_name":"A. Miyadera","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":"A. Miyadera","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050717753","display_name":"Tomoyuki Yamamoto","orcid":"https://orcid.org/0000-0002-9932-4368"},"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":"T. Yamamoto","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010263349","display_name":"T. Niemela","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":"T. Niemela","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003330820","display_name":"Mikihiro Hayashi","orcid":"https://orcid.org/0000-0002-1386-847X"},"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":"M. Hayashi","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, 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":"J. Urata","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113664593","display_name":"Y. Namiki","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":"Y. Namiki","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111904709","display_name":"T. Nishino","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":"T. Nishino","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, 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":"M. Inaba","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5050888954"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":4.9006,"has_fulltext":false,"cited_by_count":105,"citation_normalized_percentile":{"value":0.95207988,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"82","last_page":"87"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9970999956130981,"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":0.9836000204086304,"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/computer-science","display_name":"Computer science","score":0.6818186044692993},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6594959497451782},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5950084328651428},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4985184669494629},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.44949883222579956},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4279317259788513},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4183429777622223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2686077952384949}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6818186044692993},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6594959497451782},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5950084328651428},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4985184669494629},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.44949883222579956},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4279317259788513},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4183429777622223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2686077952384949},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641165","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320912","display_name":"Ministry of Education, Culture, Sports, Science and Technology","ror":"https://ror.org/048rj2z13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1581909396","https://openalex.org/W2050014769","https://openalex.org/W2069136208","https://openalex.org/W2080243374","https://openalex.org/W2134085136","https://openalex.org/W2142992961","https://openalex.org/W2157056019","https://openalex.org/W2158678516","https://openalex.org/W2159593326","https://openalex.org/W2771489308","https://openalex.org/W6683827756"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,34],"concepts,":[4],"issues":[5],"on":[6],"development,":[7],"and":[8,19,51,55,69,71],"future":[9],"perspectives":[10],"of":[11,21,29,45,66],"a":[12,62],"novel":[13],"musculoskeletal":[14],"humanoid":[15],"`Kotaro'.":[16],"The":[17],"specifications":[18],"advantages":[20],"Kotaro":[22],"include":[23],"muscle-driven":[24],"endoskeletal":[25],"structure,":[26],"multiple":[27],"degrees":[28],"freedom,":[30],"variable":[31],"physical":[32],"softness,":[33],"multiple-joint":[35],"spine,":[36],"easily":[37],"configurable":[38],"muscles,":[39],"distributed":[40],"onbody":[41],"controllers,":[42],"various":[43],"sorts":[44],"many":[46],"sensors":[47],"including":[48],"eyes,":[49],"ears,":[50],"whole-body":[52],"tactile":[53],"sensors,":[54],"so":[56],"on.":[57],"These":[58],"characteristics":[59],"would":[60,77],"achieve":[61],"flexible":[63],"body,":[64],"litheness":[65],"motions,":[67],"safety,":[68],"adaptability":[70],"applicability":[72],"to":[73],"diverse":[74],"tasks":[75],"which":[76],"very":[78],"often":[79],"appear":[80],"in":[81],"human's":[82],"daily":[83],"lives":[84]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":14}],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2025-10-10T00:00:00"}
