{"id":"https://openalex.org/W4391305596","doi":"https://doi.org/10.1109/access.2024.3359268","title":"Enhancement of Control Performance for Degraded Robot Manipulators Using Digital Twin and Proximal Policy Optimization","display_name":"Enhancement of Control Performance for Degraded Robot Manipulators Using Digital Twin and Proximal Policy Optimization","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4391305596","doi":"https://doi.org/10.1109/access.2024.3359268"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3359268","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3359268","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10415386.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10415386.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102996170","display_name":"Su-Young Park","orcid":"https://orcid.org/0009-0007-6773-5975"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Su-Young Park","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023334624","display_name":"Cheonghwa Lee","orcid":"https://orcid.org/0000-0002-0119-7293"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Cheonghwa Lee","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038798784","display_name":"Hyungjung Kim","orcid":"https://orcid.org/0000-0003-0895-6886"},"institutions":[{"id":"https://openalex.org/I24062138","display_name":"Konkuk University","ror":"https://ror.org/025h1m602","country_code":"KR","type":"education","lineage":["https://openalex.org/I24062138"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungjung Kim","raw_affiliation_strings":["Department of Industrial Engineering, Konkuk University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, Konkuk University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I24062138"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022739413","display_name":"Sung\u2010Hoon Ahn","orcid":"https://orcid.org/0000-0002-1548-2394"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Hoon Ahn","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Seoul, Republic of Korea","Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102996170"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.7824,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.90298841,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"19569","last_page":"19583"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10763","display_name":"Digital Transformation in Industry","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10763","display_name":"Digital Transformation in Industry","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.6415245532989502},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5430504679679871},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.496065229177475},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.48442748188972473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4731230139732361},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2568383812904358}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6415245532989502},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5430504679679871},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.496065229177475},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.48442748188972473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4731230139732361},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2568383812904358}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3359268","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3359268","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10415386.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:2ca2d3615be74b01a9dd133f74c52961","is_oa":true,"landing_page_url":"https://doaj.org/article/2ca2d3615be74b01a9dd133f74c52961","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 19569-19583 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3359268","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3359268","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10415386.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G103294352","display_name":null,"funder_award_id":"2021R1A4A2001824","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G1225283220","display_name":null,"funder_award_id":"NRF-2021R","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G1977839659","display_name":null,"funder_award_id":"2021R1A2B5B03087094","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G2838652150","display_name":null,"funder_award_id":"2021R1A4A2001824","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G2982597634","display_name":null,"funder_award_id":"2021R1A2B5B","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G3034753964","display_name":null,"funder_award_id":"grant","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G3071639259","display_name":null,"funder_award_id":"2021R1","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G342704958","display_name":null,"funder_award_id":"funded","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G3618703720","display_name":null,"funder_award_id":"NRF-2021R1C1C2008026","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G47396117","display_name":null,"funder_award_id":"NRF-2021R1A2B5B03087094","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G5096090129","display_name":null,"funder_award_id":"2021R1C1C2008026","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G5757237689","display_name":null,"funder_award_id":"NRF-2021R1A2B5B03087094","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G5859504097","display_name":null,"funder_award_id":"NRF-2021R1A4A2001824","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G6877350696","display_name":null,"funder_award_id":"NRF-2021R1A4A2001824","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G7202308498","display_name":null,"funder_award_id":"2021R1A2B5B03087094","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G8050517424","display_name":null,"funder_award_id":"2021R1A4A200182","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G982292920","display_name":null,"funder_award_id":"NRF-20","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391305596.pdf","grobid_xml":"https://content.openalex.org/works/W4391305596.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1605181360","https://openalex.org/W2005478758","https://openalex.org/W2039475797","https://openalex.org/W2058334894","https://openalex.org/W2334782222","https://openalex.org/W2605102758","https://openalex.org/W2626614573","https://openalex.org/W2736601468","https://openalex.org/W2914990726","https://openalex.org/W2948016596","https://openalex.org/W2950069298","https://openalex.org/W2969513800","https://openalex.org/W2982936646","https://openalex.org/W2986110703","https://openalex.org/W3007403834","https://openalex.org/W3008574247","https://openalex.org/W3022909269","https://openalex.org/W3081200565","https://openalex.org/W3100366369","https://openalex.org/W3101875589","https://openalex.org/W3150631816","https://openalex.org/W3152331843","https://openalex.org/W3159460379","https://openalex.org/W3212580602","https://openalex.org/W4200291756","https://openalex.org/W4210607692","https://openalex.org/W4212865285","https://openalex.org/W4212871542","https://openalex.org/W4213050440","https://openalex.org/W4213456104","https://openalex.org/W4226449706","https://openalex.org/W4226522678","https://openalex.org/W4234535513","https://openalex.org/W4295837092","https://openalex.org/W4360913297","https://openalex.org/W4378696849","https://openalex.org/W6741002519"],"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/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W1596801655","https://openalex.org/W2359140296"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"we":[3,79],"propose":[4,80],"a":[5,14,26,81,95,102,130,154,204,225],"novel":[6],"method":[7,148,167,188,210],"for":[8,228],"enhancing":[9],"the":[10,46,59,85,107,123,143,150,164,169,177,181,187,191,201,212],"control":[11,67,144,166,171],"performance":[12,60,145,230],"of":[13,39,62,89,101,111,153,180,194,203,220],"degraded":[15,139,197],"robot":[16,64,92,136,156,198],"manipulator":[17,137,157],"by":[18,158],"leveraging":[19],"digital":[20,96,182],"twins":[21],"and":[22,42,73,109,127,160,168,223],"proximal":[23],"policy":[24,132],"optimization,":[25],"specific":[27],"deep":[28,119],"reinforcement":[29,120],"learning":[30,121],"algorithm.":[31],"Recently,":[32],"various":[33],"robotic":[34],"technologies":[35],"with":[36,98,138],"high":[37],"levels":[38],"controllability,":[40],"safety,":[41],"reliability":[43],"that":[44],"incorporate":[45],"fourth":[47],"industrial":[48],"technology":[49],"have":[50],"been":[51],"developed.":[52],"Nevertheless,":[53],"repairs":[54],"or":[55,66],"replacements":[56],"owing":[57],"to":[58,94,141,163,189,214,217],"degradation":[61],"sophisticated":[63],"hardware":[65],"systems":[68],"are":[69],"still":[70],"time-,":[71],"cost-,":[72],"manpower-consuming.":[74],"To":[75],"address":[76],"these":[77],"challenges,":[78],"new":[82],"strategy:1)":[83],"approximate":[84],"unstable":[86],"dynamic":[87],"characteristics":[88],"six-degree-of-freedom":[90],"low-performance":[91],"manipulators":[93],"twin":[97,183],"parameter":[99],"tuning":[100],"physics":[103,178],"engine,":[104],"2)":[105],"improve":[106],"accuracy":[108],"stability":[110],"reaching":[112],"target":[113],"points":[114],"under":[115],"diverse":[116],"conditions":[117],"through":[118],"using":[122],"domain":[124],"randomization":[125],"method,":[126,172],"3)":[128],"deploy":[129],"trained":[131],"on":[133],"an":[134,195],"actual":[135,196],"capabilities":[140],"validate":[142],"improvement.":[146],"Our":[147],"reduced":[149],"position":[151],"error":[152],"real":[155],"63.0%":[159],"39.0%":[161],"compared":[162],"built-in":[165],"proportional-integral-derivative":[170],"respectively.":[173],"Randomizing":[174],"parameters":[175],"in":[176],"engine":[179],"during":[184],"training":[185],"allowed":[186],"simulate":[190],"imprecise":[192],"motions":[193],"manipulator,":[199],"facilitating":[200],"development":[202],"more":[205],"robust":[206],"policy.":[207],"Notably,":[208],"our":[209],"has":[211],"potential":[213],"be":[215],"applicable":[216],"all":[218],"types":[219],"articulated":[221],"robots,":[222],"presents":[224],"promising":[226],"solution":[227],"maintaining":[229],"while":[231],"reducing":[232],"long-term":[233],"costs.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}
