{"id":"https://openalex.org/W2166336289","doi":"https://doi.org/10.1142/s021984360400006x","title":"A PARALLEL DISTRIBUTED COGNITIVE CONTROL SYSTEM FOR A HUMANOID ROBOT","display_name":"A PARALLEL DISTRIBUTED COGNITIVE CONTROL SYSTEM FOR A HUMANOID ROBOT","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W2166336289","doi":"https://doi.org/10.1142/s021984360400006x","mag":"2166336289"},"language":"en","primary_location":{"id":"doi:10.1142/s021984360400006x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984360400006x","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-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/A5102863310","display_name":"K. Kawamura","orcid":"https://orcid.org/0009-0001-9729-4492"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"KAZUHIKO KAWAMURA","raw_affiliation_strings":["Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108521160","display_name":"Richard Alan Peters","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. ALAN PETERS II","raw_affiliation_strings":["Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061873327","display_name":"Robert E. Bodenheimer","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"ROBERT E. BODENHEIMER","raw_affiliation_strings":["Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076622286","display_name":"Nilanjan Sarkar","orcid":"https://orcid.org/0000-0002-3969-0593"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"NILANJAN SARKAR","raw_affiliation_strings":["Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069737933","display_name":"Juyi Park","orcid":"https://orcid.org/0000-0003-3404-2623"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"JUYI PARK","raw_affiliation_strings":["Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042130203","display_name":"Charles A. Clifton","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"CHARLES A. CLIFTON","raw_affiliation_strings":["Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077009442","display_name":"Albert William Spratley","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"ALBERT W. SPRATLEY","raw_affiliation_strings":["Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036718265","display_name":"Kimberly Hambuchen","orcid":"https://orcid.org/0000-0002-6481-0921"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"KIMBERLY A. HAMBUCHEN","raw_affiliation_strings":["Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems, Vanderbilt University, VU Box 350131 Station B, Nashville, TN 37235-0131, USA","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":6.4267,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.96499955,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"01","issue":"01","first_page":"65","last_page":"93"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9909999966621399,"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/T12290","display_name":"Human Motion and Animation","score":0.9904000163078308,"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":0.8035514950752258},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5263515710830688},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.4716491103172302},{"id":"https://openalex.org/keywords/cognitive-architecture","display_name":"Cognitive architecture","score":0.469882994890213},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4547596871852875},{"id":"https://openalex.org/keywords/programmer","display_name":"Programmer","score":0.44654491543769836},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4242396056652069},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4101950526237488},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3262297213077545},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.2984592318534851},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.2669984698295593},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25038814544677734}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8035514950752258},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5263515710830688},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.4716491103172302},{"id":"https://openalex.org/C20854674","wikidata":"https://www.wikidata.org/wiki/Q4386060","display_name":"Cognitive architecture","level":3,"score":0.469882994890213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4547596871852875},{"id":"https://openalex.org/C2778514511","wikidata":"https://www.wikidata.org/wiki/Q1374194","display_name":"Programmer","level":2,"score":0.44654491543769836},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4242396056652069},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4101950526237488},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3262297213077545},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2984592318534851},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.2669984698295593},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25038814544677734},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1142/s021984360400006x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984360400006x","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.129.4884","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.129.4884","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://eecs.vanderbilt.edu/cis/pubs/2004-kawamura.et.al-ijhr.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.73.8653","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.73.8653","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.vuse.vanderbilt.edu/~bobbyb/pubs/dccs.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320308668","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60"},{"id":"https://openalex.org/F4320309151","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W63137822","https://openalex.org/W83033194","https://openalex.org/W279049955","https://openalex.org/W1511039218","https://openalex.org/W1601336606","https://openalex.org/W1912975988","https://openalex.org/W1955896372","https://openalex.org/W2011656279","https://openalex.org/W2030999204","https://openalex.org/W2065357305","https://openalex.org/W2090790288","https://openalex.org/W2094542138","https://openalex.org/W2099946449","https://openalex.org/W2100677568","https://openalex.org/W2104434501","https://openalex.org/W2105559518","https://openalex.org/W2106502371","https://openalex.org/W2126685399","https://openalex.org/W2127036198","https://openalex.org/W2129384078","https://openalex.org/W2151857564","https://openalex.org/W2153674013","https://openalex.org/W2167232167","https://openalex.org/W2169277710","https://openalex.org/W2169399782","https://openalex.org/W2751379301","https://openalex.org/W2793763890","https://openalex.org/W2926576851","https://openalex.org/W3125871502","https://openalex.org/W4247254250","https://openalex.org/W4247487452"],"related_works":["https://openalex.org/W3159341950","https://openalex.org/W4286778699","https://openalex.org/W2978965280","https://openalex.org/W2791292784","https://openalex.org/W2786244496","https://openalex.org/W2197266048","https://openalex.org/W2068006087","https://openalex.org/W1993436304","https://openalex.org/W2148706612","https://openalex.org/W2160422000"],"abstract_inverted_index":{"During":[0],"the":[1,14,34,41,48,78,82,87,110,137,160,167,202],"last":[2],"decade,":[3],"researchers":[4],"at":[5],"Vanderbilt":[6],"have":[7,172],"been":[8],"developing":[9],"a":[10,52,58,119,127,130],"humanoid":[11],"robot":[12,88],"called":[13],"Intelligent":[15],"Soft":[16],"Arm":[17],"Control":[18],"(ISAC).":[19],"This":[20],"paper":[21],"describes":[22],"ISAC":[23],"in":[24,118,207],"terms":[25,208],"of":[26,43,60,86,112,134,142,201,209],"its":[27,44,174,210],"software":[28,55,62],"components":[29],"and":[30,149,155,166,169,181,189,216],"with":[31,89],"respect":[32],"to":[33,47,77,123,212],"design":[35,79],"philosophy":[36,80,93],"that":[37,66,103,124,171],"has":[38],"evolved":[39],"over":[40,98],"course":[42],"development.":[45,96,175],"Central":[46],"control":[49,154,164,203],"system":[50,193,204],"is":[51,81,159,205],"parallel,":[53],"distributed":[54,162],"architecture,":[56],"comprising":[57],"set":[59],"independent":[61],"objects":[63],"or":[64],"agents":[65],"execute":[67],"as":[68],"needed":[69],"on":[70],"standard":[71],"PCs":[72],"linked":[73],"via":[74],"Ethernet.":[75],"Fundamental":[76],"direct":[83],"physical":[84],"interaction":[85,105],"people.":[90],"Initially,":[91],"this":[92],"guided":[94,173],"application":[95],"Yet":[97],"time":[99],"it":[100],"became":[101],"apparent":[102],"such":[104],"may":[106],"be":[107],"necessary":[108],"for":[109,178],"acquisition":[111,141],"intelligent":[113],"behaviors":[114,144],"by":[115],"an":[116],"agent":[117],"human-centered":[120],"environment.":[121],"Concurrent":[122],"evolution":[125],"was":[126],"shift":[128],"from":[129],"programmer's":[131],"high-level":[132],"specification":[133],"action":[135],"toward":[136],"robot's":[138],"own":[139],"motion":[140],"primitive":[143],"through":[145,152,187,192],"sensory-motor":[146],"coordination":[147],"(SMC)":[148],"task":[150],"learning":[151,186],"cognitive":[153,163],"working":[156],"memory.":[157],"Described":[158],"parallel":[161],"architecture":[165],"advantages":[168],"limitations":[170],"Primary":[176],"structures":[177],"sensing,":[179],"memory,":[180],"cognition":[182],"are":[183,196],"described.":[184],"Motion":[185],"teleoperation":[188],"fault":[190],"diagnosis":[191],"health":[194],"monitoring":[195],"also":[197],"covered.":[198],"The":[199],"generality":[200],"discussed":[206],"applicability":[211],"physically":[213],"heterogeneous":[214],"robots":[215],"multi-robot":[217],"systems.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":18},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
