{"id":"https://openalex.org/W7138442479","doi":"https://doi.org/10.48550/arxiv.2603.14787","title":"Dynamic Properties and Motion Reproducibility of a Compact Pneumatically Actuated Humanoid Upper Body for Data-Driven Control","display_name":"Dynamic Properties and Motion Reproducibility of a Compact Pneumatically Actuated Humanoid Upper Body for Data-Driven Control","publication_year":2026,"publication_date":"2026-03-16","ids":{"openalex":"https://openalex.org/W7138442479","doi":"https://doi.org/10.48550/arxiv.2603.14787"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.14787","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14787","pdf_url":null,"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.14787","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031418697","display_name":"Hiroshi Atsuta","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Atsuta, Hiroshi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080378884","display_name":"Hisashi Ishihara","orcid":"https://orcid.org/0000-0003-0931-1043"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ishihara, Hisashi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129659221","display_name":"Minoru Asada","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Asada, Minoru","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.45249998569488525,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.45249998569488525,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.3328999876976013,"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":0.04230000078678131,"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/humanoid-robot","display_name":"Humanoid robot","score":0.6528000235557556},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6097000241279602},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5942999720573425},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5838000178337097},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5275999903678894},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.510200023651123},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4471000134944916},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.43320000171661377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4284000098705292}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6528000235557556},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6097000241279602},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5942999720573425},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5838000178337097},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5670999884605408},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5519999861717224},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5275999903678894},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.510200023651123},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4471000134944916},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.43320000171661377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4284000098705292},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4133000075817108},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.40610000491142273},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.40560001134872437},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.37470000982284546},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3528999984264374},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.33250001072883606},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3312999904155731},{"id":"https://openalex.org/C103578843","wikidata":"https://www.wikidata.org/wiki/Q1816388","display_name":"Pneumatic flow control","level":2,"score":0.31369999051094055},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31299999356269836},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.31189998984336853},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3095000088214874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30720001459121704},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2953000068664551},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.28929999470710754},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2784000039100647},{"id":"https://openalex.org/C179717631","wikidata":"https://www.wikidata.org/wiki/Q2991667","display_name":"Multilayer perceptron","level":3,"score":0.2784000039100647},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26440000534057617}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.14787","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14787","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.14787","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14787","pdf_url":null,"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5702486634254456,"id":"https://metadata.un.org/sdg/5","display_name":"Gender equality"},{"score":0.42957252264022827,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Pneumatically-actuated":[0],"anthropomorphic":[1],"robots":[2],"with":[3,89,112],"high":[4],"degrees":[5],"of":[6,19,34,45,125],"freedom":[7],"(DOF)":[8],"offer":[9],"significant":[10],"potential":[11,124],"for":[12,79,106,128],"physical":[13],"human-robot":[14],"interaction.":[15],"However,":[16],"precise":[17],"control":[18],"pneumatic":[20,132],"actuators":[21],"is":[22],"challenging":[23],"due":[24],"to":[25,102],"their":[26],"inherent":[27],"nonlinearities.":[28],"This":[29],"paper":[30],"presents":[31],"the":[32,43,64,123],"development":[33],"a":[35,75,80,86,113],"compact":[36],"13-DOF":[37],"upper-body":[38],"humanoid":[39],"robot.":[40],"To":[41],"assess":[42],"feasibility":[44],"an":[46],"effective":[47],"controller,":[48],"we":[49,73],"first":[50],"investigate":[51],"its":[52],"key":[53],"dynamic":[54],"properties,":[55],"such":[56],"as":[57],"actuation":[58],"time":[59,91],"delays,":[60],"and":[61],"confirm":[62],"that":[63],"system":[65],"exhibits":[66],"highly":[67],"reproducible":[68],"behavior.":[69],"Leveraging":[70],"this":[71],"reproducibility,":[72],"implement":[74],"preliminary":[76],"data-driven":[77,126],"controller":[78,116],"4-DOF":[81],"arm":[82],"subsystem":[83],"based":[84],"on":[85,98],"multilayer":[87],"perceptron":[88],"explicit":[90],"delay":[92],"compensation.":[93],"The":[94],"network":[95],"was":[96],"trained":[97],"random":[99],"movement":[100],"data":[101],"generate":[103],"pressure":[104],"commands":[105],"tracking":[107,120],"arbitrary":[108],"trajectories.":[109],"Comparative":[110],"evaluations":[111],"traditional":[114],"PID":[115],"demonstrate":[117],"superior":[118],"trajectory":[119],"performance,":[121],"highlighting":[122],"approaches":[127],"controlling":[129],"complex,":[130],"high-DOF":[131],"robots.":[133]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-18T00:00:00"}