{"id":"https://openalex.org/W2490314460","doi":"https://doi.org/10.1109/biorob.2016.7523669","title":"A Multiagent Reinforcement Learning approach for inverse kinematics of high dimensional manipulators with precision positioning","display_name":"A Multiagent Reinforcement Learning approach for inverse kinematics of high dimensional manipulators with precision positioning","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2490314460","doi":"https://doi.org/10.1109/biorob.2016.7523669","mag":"2490314460"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523669","is_oa":true,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523669","pdf_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7523669","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7523669","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037726649","display_name":"Yasmin Ansari","orcid":"https://orcid.org/0000-0002-5967-5067"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Yasmin Ansari","raw_affiliation_strings":["Soft Robotics Lab, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033570527","display_name":"Egidio Falotico","orcid":"https://orcid.org/0000-0001-8060-8080"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Egidio Falotico","raw_affiliation_strings":["Soft Robotics Lab, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074172429","display_name":"Yoan Mollard","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yoan Mollard","raw_affiliation_strings":["FLOWERS Lab, INRIA"],"affiliations":[{"raw_affiliation_string":"FLOWERS Lab, INRIA","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057540829","display_name":"Baptiste Busch","orcid":"https://orcid.org/0000-0002-3507-9148"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Baptiste Busch","raw_affiliation_strings":["FLOWERS Lab, INRIA"],"affiliations":[{"raw_affiliation_string":"FLOWERS Lab, INRIA","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025028755","display_name":"Matteo Cianchetti","orcid":"https://orcid.org/0000-0002-9016-8039"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Cianchetti","raw_affiliation_strings":["Soft Robotics Lab, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045065209","display_name":"Cecilia Laschi","orcid":"https://orcid.org/0000-0001-5248-1043"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cecilia Laschi","raw_affiliation_strings":["Soft Robotics Lab, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5037726649"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":2.1665,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.88241631,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"457","last_page":"463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9975000023841858,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7124429941177368},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.685120701789856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6602985858917236},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6243219375610352},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5546584725379944},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5100889801979065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4955958127975464},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4715953767299652},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.43116313219070435},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4296822249889374},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4071018099784851},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40152761340141296},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2436918318271637},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18927130103111267}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7124429941177368},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.685120701789856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6602985858917236},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6243219375610352},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5546584725379944},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5100889801979065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4955958127975464},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4715953767299652},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.43116313219070435},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4296822249889374},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4071018099784851},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40152761340141296},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2436918318271637},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18927130103111267},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/biorob.2016.7523669","is_oa":true,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523669","pdf_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7523669","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01406597v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01406597","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"BioRob 2016 - 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, Jun 2016, Singapore, Singapore","raw_type":"Conference papers"},{"id":"pmh:oai:www.iris.sssup.it:11382/509094","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/509094","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"doi:10.1109/biorob.2016.7523669","is_oa":true,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523669","pdf_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7523669","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2490314460.pdf","grobid_xml":"https://content.openalex.org/works/W2490314460.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W56117469","https://openalex.org/W1472557719","https://openalex.org/W1566187042","https://openalex.org/W1579240551","https://openalex.org/W1974812331","https://openalex.org/W1982704466","https://openalex.org/W1987187457","https://openalex.org/W1991412064","https://openalex.org/W1997543377","https://openalex.org/W2019428733","https://openalex.org/W2048325583","https://openalex.org/W2079574144","https://openalex.org/W2103617625","https://openalex.org/W2104602264","https://openalex.org/W2107489452","https://openalex.org/W2121863487","https://openalex.org/W2129442128","https://openalex.org/W2144366468","https://openalex.org/W2151471214","https://openalex.org/W2164806098","https://openalex.org/W2284390012","https://openalex.org/W2337157527","https://openalex.org/W2531581193","https://openalex.org/W3011120880","https://openalex.org/W4214717370","https://openalex.org/W4256635698","https://openalex.org/W4285719527","https://openalex.org/W6675811377","https://openalex.org/W6703313716","https://openalex.org/W6903482636"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W3215005299","https://openalex.org/W2731862817","https://openalex.org/W133449524","https://openalex.org/W2291244835"],"abstract_inverted_index":{"Flexible":[0],"manipulators":[1,77],"based":[2,68],"on":[3,69,99,137],"soft":[4],"robotic":[5,140],"technologies":[6],"demonstrate":[7],"compliance":[8],"and":[9,23,108,154],"dexterous":[10],"maneuverability":[11],"with":[12,58,104],"virtually":[13],"infinite":[14],"degrees-of-freedom.":[15],"Such":[16],"systems":[17],"have":[18,91],"great":[19],"potential":[20],"in":[21,35,41],"assistive":[22],"surgical":[24],"fields":[25],"where":[26],"safe":[27],"human-robot":[28],"interaction":[29],"is":[30],"a":[31,63,84,92,100,105],"prime":[32],"concern.":[33],"However,":[34],"order":[36],"to":[37,55,78,87,129,142,146],"enable":[38],"practical":[39],"application":[40],"these":[42],"environments,":[43],"intelligent":[44],"control":[45],"frameworks":[46],"are":[47],"required":[48],"that":[49,74,90,110],"can":[50],"automate":[51],"low-level":[52],"sensorimotor":[53],"skills":[54],"reach":[56],"targets":[57],"high":[59],"precision.":[60,94],"We":[61,95,132],"designed":[62],"novel":[64],"motor":[65],"learning":[66],"algorithm":[67,98,126],"cooperative":[70],"Multi-Agent":[71],"Reinforcement":[72],"Learning":[73],"enables":[75],"high-dimensional":[76],"exploit":[79],"an":[80,120],"abstracted":[81],"state-space":[82],"through":[83],"reward-guided":[85],"mechanism":[86],"find":[88],"solutions":[89,144],"guaranteed":[93],"test":[96],"our":[97,135],"simulated":[101],"planar":[102],"6-DOF":[103],"discrete":[106],"action-set":[107],"show":[109],"the":[111,113,117,138,150,157],"all":[112],"points":[114],"reached":[115],"by":[116],"manipulator":[118],"average":[119],"accuracy":[121,153],"of":[122,156],"0.0056m":[123],"(\u00b10.002).":[124],"The":[125],"was":[127],"found":[128],"be":[130],"repeatable.":[131],"further":[133],"validated":[134],"concept":[136],"Baxter":[139],"arm":[141],"generate":[143],"up":[145],"0.008m,":[147],"exceptions":[148],"being":[149],"joint":[151],"angle":[152],"calibration":[155],"robot.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}