{"id":"https://openalex.org/W4388774884","doi":"https://doi.org/10.1142/s0219843623500275","title":"Stories of QRIO and PINO, and Beyond: Lessons Learned from Small Humanoid Projects From R&amp;D to Business","display_name":"Stories of QRIO and PINO, and Beyond: Lessons Learned from Small Humanoid Projects From R&amp;D to Business","publication_year":2023,"publication_date":"2023-11-17","ids":{"openalex":"https://openalex.org/W4388774884","doi":"https://doi.org/10.1142/s0219843623500275"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843623500275","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843623500275","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/A5061865351","display_name":"Masahiro Fujita","orcid":"https://orcid.org/0009-0006-4646-6975"},"institutions":[{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Masahiro Fujita","raw_affiliation_strings":["AI Technology Division, Technology Infrastructure Center, Sony Group Corporation, 2-10-1, Osaki, Shinagawa, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0006-4646-6975","affiliations":[{"raw_affiliation_string":"AI Technology Division, Technology Infrastructure Center, Sony Group Corporation, 2-10-1, Osaki, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003449516","display_name":"Yasunori Kawanami","orcid":"https://orcid.org/0009-0002-6426-3451"},"institutions":[{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasunori Kawanami","raw_affiliation_strings":["AI Technology Division, Technology Infrastructure Center, Sony Group Corporation, 2-10-1, Osaki, Shinagawa, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0002-6426-3451","affiliations":[{"raw_affiliation_string":"AI Technology Division, Technology Infrastructure Center, Sony Group Corporation, 2-10-1, Osaki, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057053854","display_name":"K. Miyazawa","orcid":"https://orcid.org/0009-0003-3449-175X"},"institutions":[{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyokazu Miyazawa","raw_affiliation_strings":["AI Technology Division, Technology Infrastructure Center, Sony Group Corporation, 2-10-1, Osaki, Shinagawa, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0003-3449-175X","affiliations":[{"raw_affiliation_string":"AI Technology Division, Technology Infrastructure Center, Sony Group Corporation, 2-10-1, Osaki, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074564655","display_name":"Masaya Kinoshita","orcid":"https://orcid.org/0009-0004-2343-7085"},"institutions":[{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaya Kinoshita","raw_affiliation_strings":["AI Technology Division, Technology Infrastructure Center, Sony Group Corporation, 2-10-1, Osaki, Shinagawa, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0004-2343-7085","affiliations":[{"raw_affiliation_string":"AI Technology Division, Technology Infrastructure Center, Sony Group Corporation, 2-10-1, Osaki, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091857668","display_name":"Kunihito Sawai","orcid":"https://orcid.org/0009-0004-5510-2220"},"institutions":[{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kunihito Sawai","raw_affiliation_strings":["Creative Center, Creative Platform, Sony Group Corporation, 1-7-1, Konan, Minato-ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0004-5510-2220","affiliations":[{"raw_affiliation_string":"Creative Center, Creative Platform, Sony Group Corporation, 1-7-1, Konan, Minato-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070523778","display_name":"Fuminori Yamasaki","orcid":"https://orcid.org/0009-0004-8217-3833"},"institutions":[{"id":"https://openalex.org/I4210138190","display_name":"Kawasaki Hospital","ror":"https://ror.org/03cfz7739","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210138190"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fuminori Yamasaki","raw_affiliation_strings":["iXs Co., Ltd., 7-7, Shin-Kawasaki, Saiwai, Kawasaki, Kanagawa, Japan"],"raw_orcid":"https://orcid.org/0009-0004-8217-3833","affiliations":[{"raw_affiliation_string":"iXs Co., Ltd., 7-7, Shin-Kawasaki, Saiwai, Kawasaki, Kanagawa, Japan","institution_ids":["https://openalex.org/I4210138190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040179897","display_name":"Tatsuya Matsui","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136457","display_name":"Shibuya (Japan)","ror":"https://ror.org/03t1ztz45","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210136457"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Matsui","raw_affiliation_strings":["Flower Robotics Inc., J-House 301, Minami Aoyama, Shibuya, Tokyo 150, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flower Robotics Inc., J-House 301, Minami Aoyama, Shibuya, Tokyo 150, Japan","institution_ids":["https://openalex.org/I4210136457"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110117618","display_name":"Ken Endo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]},{"id":"https://openalex.org/I4210136457","display_name":"Shibuya (Japan)","ror":"https://ror.org/03t1ztz45","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210136457"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ken Endo","raw_affiliation_strings":["Sony Computer Science Laboratories, Inc., 3-14-13, Higashigotanda, Shinagawa, Tokyo, Japan","XiBorg Inc., 402, 6-34-3, Jingumae, Shibuya, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Computer Science Laboratories, Inc., 3-14-13, Higashigotanda, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]},{"raw_affiliation_string":"XiBorg Inc., 402, 6-34-3, Jingumae, Shibuya, Tokyo, Japan","institution_ids":["https://openalex.org/I4210136457"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025666098","display_name":"Shu Ishiguro","orcid":"https://orcid.org/0000-0002-8281-5945"},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shu Ishiguro","raw_affiliation_strings":["Future Robotics Technology Center, Chiba Institute of Technology, 2-17-1, Tsudanuma, Narashino, Chiba 275-0016 Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Future Robotics Technology Center, Chiba Institute of Technology, 2-17-1, Tsudanuma, Narashino, Chiba 275-0016 Japan","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086835862","display_name":"Hiroaki Kitano","orcid":"https://orcid.org/0000-0002-3589-1953"},"institutions":[{"id":"https://openalex.org/I142637625","display_name":"Okinawa Institute of Science and Technology Graduate University","ror":"https://ror.org/02qg15b79","country_code":"JP","type":"education","lineage":["https://openalex.org/I142637625"]},{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroaki Kitano","raw_affiliation_strings":["Okinawa Institute of Science and Technology Graduate School, 1919-1, Tancha, Onna-Son, Kunigami-gun, Okinawa 904-0495, Japan","Sony Computer Science Laboratories, Inc., 3-14-13, Higashigotanda, Shinagawa, Tokyo, Japan","Sony Group Corporation, 1-7-1, Konan, Minato-ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3589-1953","affiliations":[{"raw_affiliation_string":"Okinawa Institute of Science and Technology Graduate School, 1919-1, Tancha, Onna-Son, Kunigami-gun, Okinawa 904-0495, Japan","institution_ids":["https://openalex.org/I142637625"]},{"raw_affiliation_string":"Sony Computer Science Laboratories, Inc., 3-14-13, Higashigotanda, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]},{"raw_affiliation_string":"Sony Group Corporation, 1-7-1, Konan, Minato-ku, Tokyo, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5061865351"],"corresponding_institution_ids":["https://openalex.org/I4210122684"],"apc_list":null,"apc_paid":null,"fwci":0.8253,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.69635053,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"21","issue":"01","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13280","display_name":"Biomedical and Engineering Education","score":0.9675999879837036,"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/T13280","display_name":"Biomedical and Engineering Education","score":0.9675999879837036,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9578999876976013,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9301999807357788,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8110254406929016}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8110254406929016}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843623500275","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843623500275","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1493177060","https://openalex.org/W1702768895","https://openalex.org/W1968058256","https://openalex.org/W1982486572","https://openalex.org/W1990517717","https://openalex.org/W2004474064","https://openalex.org/W2010310221","https://openalex.org/W2011685039","https://openalex.org/W2037574298","https://openalex.org/W2037979274","https://openalex.org/W2048383675","https://openalex.org/W2054043069","https://openalex.org/W2058801071","https://openalex.org/W2063366952","https://openalex.org/W2076549818","https://openalex.org/W2083250204","https://openalex.org/W2089029564","https://openalex.org/W2091086037","https://openalex.org/W2097506912","https://openalex.org/W2097815751","https://openalex.org/W2113466947","https://openalex.org/W2116341502","https://openalex.org/W2119885245","https://openalex.org/W2135674775","https://openalex.org/W2139902660","https://openalex.org/W2140108824","https://openalex.org/W2142992961","https://openalex.org/W2145097496","https://openalex.org/W2328050095","https://openalex.org/W2519233730","https://openalex.org/W2544548454","https://openalex.org/W2545049138","https://openalex.org/W2588677395","https://openalex.org/W2604382266","https://openalex.org/W2887890694","https://openalex.org/W2894612930","https://openalex.org/W2907492528","https://openalex.org/W2920926741","https://openalex.org/W2950416202","https://openalex.org/W3033530653","https://openalex.org/W3152893301","https://openalex.org/W3200610390","https://openalex.org/W4200301347","https://openalex.org/W4214717370","https://openalex.org/W4224220194","https://openalex.org/W4238613185","https://openalex.org/W4247299771","https://openalex.org/W4253399337","https://openalex.org/W4255520207","https://openalex.org/W4360884927","https://openalex.org/W4382138711"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"In":[0,81],"1997,":[1],"Sony":[2],"announced":[3],"AIBO,":[4],"a":[5,23],"fully":[6],"autonomous":[7],"small":[8,30],"quadruped":[9],"robot":[10],"for":[11],"home":[12],"entertainment,":[13],"and":[14,52,89,93,105],"in":[15],"1999":[16],"the":[17,61,86],"company":[18],"began":[19],"selling":[20],"it":[21],"as":[22],"consumer":[24],"product.":[25],"Soon":[26],"after":[27],"development,":[28],"two":[29,87],"humanoid":[31],"robots":[32],"were":[33,96],"announced.":[34],"One":[35],"was":[36,58],"QRIO":[37],"by":[38,60],"Sony,":[39],"which":[40,67],"is":[41,68],"about":[42,69],"60[Formula:":[43],"see":[44,71],"text]cm":[45,72],"height":[46,73],"body":[47],"with":[48,77],"dynamical":[49],"bipedal":[50],"walking":[51],"whole-body":[53],"cooperative":[54],"control.":[55],"The":[56],"other":[57],"PINO":[59],"ERATO":[62],"Kitano":[63],"Symbiotic":[64],"Systems":[65],"Project,":[66],"70[Formula:":[70],"body,":[74],"Open":[75],"HW/SW":[76],"inexpensive":[78],"off-the-shelf":[79],"component.":[80],"this":[82],"paper,":[83],"we":[84],"revisit":[85],"humanoids":[88],"nearly":[90],"20-year-old":[91],"technologies,":[92],"discuss":[94],"what":[95,101,106],"done":[97],"20":[98],"years":[99],"ago,":[100],"have":[102],"been":[103],"achieved":[104],"challenges":[107],"are":[108],"ahead.":[109]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-04T09:04:59.091469","created_date":"2025-10-10T00:00:00"}
