{"id":"https://openalex.org/W6948206293","doi":"https://doi.org/10.48550/arxiv.2406.17136","title":"Stable Tool-Use with Flexible Musculoskeletal Hands by Learning the Predictive Model of Sensor State Transition","display_name":"Stable Tool-Use with Flexible Musculoskeletal Hands by Learning the Predictive Model of Sensor State Transition","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W6948206293","doi":"https://doi.org/10.48550/arxiv.2406.17136"},"language":"en","primary_location":{"id":"doi:10.48550/arxiv.2406.17136","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2406.17136","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":"article-journal"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2406.17136","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Kawaharazuka, Kento","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kawaharazuka, Kento","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Tsuzuki, Kei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tsuzuki, Kei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Onitsuka, Moritaka","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Onitsuka, Moritaka","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Asano, Yuki","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Asano, Yuki","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Okada, Kei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Okada, Kei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Kawasaki, Koji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kawasaki, Koji","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Inaba, Masayuki","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Inaba, Masayuki","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"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":true,"primary_topic":{"id":"https://openalex.org/T10941","display_name":"Musicology and Musical Analysis","score":0.24609999358654022,"subfield":{"id":"https://openalex.org/subfields/1210","display_name":"Music"},"field":{"id":"https://openalex.org/fields/12","display_name":"Arts and Humanities"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10941","display_name":"Musicology and Musical Analysis","score":0.24609999358654022,"subfield":{"id":"https://openalex.org/subfields/1210","display_name":"Music"},"field":{"id":"https://openalex.org/fields/12","display_name":"Arts and Humanities"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T14034","display_name":"Musicians\u2019 Health and Performance","score":0.12479999661445618,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11349","display_name":"Music Technology and Sound Studies","score":0.06870000064373016,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6165000200271606},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5687000155448914},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5192000269889832},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4912000000476837},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.46700000762939453},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4620000123977661},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4542999863624573},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44119998812675476},{"id":"https://openalex.org/keywords/train","display_name":"Train","score":0.42489999532699585}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6165000200271606},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5687000155448914},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5192000269889832},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.49639999866485596},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4912000000476837},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.483599990606308},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.46700000762939453},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4641000032424927},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4620000123977661},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4542999863624573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44119998812675476},{"id":"https://openalex.org/C190839683","wikidata":"https://www.wikidata.org/wiki/Q2448197","display_name":"Train","level":2,"score":0.42489999532699585},{"id":"https://openalex.org/C13655849","wikidata":"https://www.wikidata.org/wiki/Q25294","display_name":"Hammer","level":2,"score":0.4090999960899353},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.388700008392334},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37070000171661377},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3361000120639801},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3246000111103058},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3224000036716461},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.30820000171661377},{"id":"https://openalex.org/C2986565385","wikidata":"https://www.wikidata.org/wiki/Q852453","display_name":"Motion sensors","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C194232998","wikidata":"https://www.wikidata.org/wiki/Q1606712","display_name":"Transition (genetics)","level":3,"score":0.2766999900341034},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.2689000070095062},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.2590999901294708},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.25850000977516174},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2406.17136","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2406.17136","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":"article-journal"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2406.17136","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2406.17136","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":"article-journal"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"flexible":[1],"under-actuated":[2],"musculoskeletal":[3],"hand":[4,48],"is":[5,67],"superior":[6],"in":[7],"its":[8,30],"adaptability":[9],"and":[10,22,39,62,92,112,114],"impact":[11,59],"resistance.":[12],"On":[13],"the":[14,18,43,47,53,56,63,79,87,94,103,116],"other":[15],"hand,":[16],"since":[17],"relationship":[19],"between":[20],"sensors":[21],"actuators":[23],"cannot":[24],"be":[25],"uniquely":[26],"determined,":[27],"almost":[28],"all":[29],"controls":[31],"are":[32],"based":[33],"on":[34],"feedforward":[35],"controls.":[36],"When":[37],"grasping":[38],"using":[40,86,102],"a":[41,75,99],"tool,":[42],"contact":[44,65,96],"state":[45,66,84,97],"of":[46,55,60,82,108,118],"gradually":[49],"changes":[50],"due":[51],"to":[52],"inertia":[54],"tool":[57],"or":[58],"action,":[61],"initial":[64,95],"hardly":[68],"kept.":[69],"In":[70],"this":[71,119],"study,":[72],"we":[73],"propose":[74],"system":[76],"that":[77],"trains":[78],"predictive":[80],"network":[81],"sensor":[83,90],"transition":[85],"actual":[88],"robot":[89],"information,":[91],"keeps":[93],"by":[98],"feedback":[100],"control":[101],"network.":[104],"We":[105],"conduct":[106],"experiments":[107],"hammer":[109],"hitting,":[110],"vacuuming,":[111],"brooming,":[113],"verify":[115],"effectiveness":[117],"study.":[120]},"counts_by_year":[],"updated_date":"2025-11-06T06:51:31.235846","created_date":"2025-10-10T00:00:00"}