{"id":"https://openalex.org/W3201109526","doi":"https://doi.org/10.1109/ijcnn52387.2021.9533914","title":"MKE Scheme for Planning and Control of Dual-arm Robotic System Aided with Recurrent Neural Networks","display_name":"MKE Scheme for Planning and Control of Dual-arm Robotic System Aided with Recurrent Neural Networks","publication_year":2021,"publication_date":"2021-07-18","ids":{"openalex":"https://openalex.org/W3201109526","doi":"https://doi.org/10.1109/ijcnn52387.2021.9533914","mag":"3201109526"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn52387.2021.9533914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn52387.2021.9533914","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-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/A5047269850","display_name":"Jialiang Fan","orcid":"https://orcid.org/0000-0001-5554-672X"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]},{"id":"https://openalex.org/I4210123021","display_name":"Chongqing Institute of Green and Intelligent Technology","ror":"https://ror.org/031npqv35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210123021"]},{"id":"https://openalex.org/I4210124531","display_name":"Lanzhou University Second Hospital","ror":"https://ror.org/02erhaz63","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210124531"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jialiang Fan","raw_affiliation_strings":["Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing, China","Key Laboratory of Medical Imaging, Lanzhou University Second Hospital, Lanzhou, China","School of Information Science and Engineering, Lanzhou University, Lanzhou, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing, China","institution_ids":["https://openalex.org/I4210123021"]},{"raw_affiliation_string":"Key Laboratory of Medical Imaging, Lanzhou University Second Hospital, Lanzhou, China","institution_ids":["https://openalex.org/I76214153","https://openalex.org/I4210124531"]},{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347934","display_name":"Mei Liu","orcid":"https://orcid.org/0000-0003-0445-941X"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210123021","display_name":"Chongqing Institute of Green and Intelligent Technology","ror":"https://ror.org/031npqv35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210123021"]},{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]},{"id":"https://openalex.org/I4210124531","display_name":"Lanzhou University Second Hospital","ror":"https://ror.org/02erhaz63","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210124531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mei Liu","raw_affiliation_strings":["Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing, China","Key Laboratory of Medical Imaging, Lanzhou University Second Hospital, Lanzhou, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing, China","institution_ids":["https://openalex.org/I4210123021"]},{"raw_affiliation_string":"Key Laboratory of Medical Imaging, Lanzhou University Second Hospital, Lanzhou, China","institution_ids":["https://openalex.org/I76214153","https://openalex.org/I4210124531"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100424064","display_name":"Shuai Li","orcid":"https://orcid.org/0000-0001-8316-5289"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Li","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5047269850"],"corresponding_institution_ids":["https://openalex.org/I4210123021","https://openalex.org/I4210124531","https://openalex.org/I4210165038","https://openalex.org/I76214153"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12827488,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":null,"first_page":"1","last_page":"7"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9908000230789185,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9868000149726868,"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/robotic-arm","display_name":"Robotic arm","score":0.8382356762886047},{"id":"https://openalex.org/keywords/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.6860172152519226},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6205077171325684},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.6076700091362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5518187880516052},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5384066104888916},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5018818378448486},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4731370508670807},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4556380808353424},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.43774017691612244},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.43734025955200195},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32117196917533875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.319760799407959},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25507795810699463},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.24000227451324463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22275310754776},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1964157223701477}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.8382356762886047},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.6860172152519226},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6205077171325684},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.6076700091362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5518187880516052},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5384066104888916},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5018818378448486},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4731370508670807},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4556380808353424},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.43774017691612244},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.43734025955200195},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32117196917533875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.319760799407959},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25507795810699463},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.24000227451324463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22275310754776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1964157223701477},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ijcnn52387.2021.9533914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn52387.2021.9533914","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"},{"id":"pmh:oai:ir.lzu.edu.cn/:262010/468338","is_oa":false,"landing_page_url":"http://ir.lzu.edu.cn/handle/262010/468338","pdf_url":null,"source":{"id":"https://openalex.org/S4406923049","display_name":"Lanzhou University Institutional Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u4f1a\u8bae\u8bba\u6587"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2702446510","display_name":null,"funder_award_id":"cstc2020jcyj-zdxmX0028","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"}],"funders":[{"id":"https://openalex.org/F4320323172","display_name":"Natural Science Foundation of Chongqing","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1583199597","https://openalex.org/W1993989609","https://openalex.org/W1994298651","https://openalex.org/W2023468600","https://openalex.org/W2031949419","https://openalex.org/W2032571467","https://openalex.org/W2089026157","https://openalex.org/W2111986387","https://openalex.org/W2145238401","https://openalex.org/W2153202134","https://openalex.org/W2278138779","https://openalex.org/W2517030840","https://openalex.org/W2522261341","https://openalex.org/W2591194352","https://openalex.org/W2605564896","https://openalex.org/W2606637053","https://openalex.org/W2607322329","https://openalex.org/W2716009774","https://openalex.org/W2735496307","https://openalex.org/W2765820394","https://openalex.org/W2774239862","https://openalex.org/W2803429050","https://openalex.org/W2806781084","https://openalex.org/W2887183215","https://openalex.org/W2901144993","https://openalex.org/W2907017794","https://openalex.org/W2909096712","https://openalex.org/W2915278269","https://openalex.org/W2919538836","https://openalex.org/W2925694075","https://openalex.org/W2928382658","https://openalex.org/W2934060014","https://openalex.org/W2942806563","https://openalex.org/W2946242656","https://openalex.org/W2985939567","https://openalex.org/W2998930101","https://openalex.org/W3000352647","https://openalex.org/W3004039693","https://openalex.org/W3004818638","https://openalex.org/W3035605716","https://openalex.org/W3046670388","https://openalex.org/W3093499421","https://openalex.org/W3119363261","https://openalex.org/W3128671614","https://openalex.org/W3132107132"],"related_works":["https://openalex.org/W4298287631","https://openalex.org/W2953061907","https://openalex.org/W2020990755","https://openalex.org/W3036464408","https://openalex.org/W2973952456","https://openalex.org/W2377851227","https://openalex.org/W4293088966","https://openalex.org/W2366868484","https://openalex.org/W2917463375","https://openalex.org/W2155219672"],"abstract_inverted_index":{"Dual-arm":[0],"robotic":[1,9,45,125,155],"systems":[2],"have":[3],"great":[4],"advantages":[5],"over":[6],"the":[7,12,22,38,54,61,76,97,110,116,137,147,153],"single-arm":[8],"system,":[10],"for":[11,37,145],"arms":[13],"can":[14],"either":[15],"run":[16],"independently":[17],"or":[18],"cooperate":[19],"to":[20,152],"finish":[21],"task.":[23],"In":[24],"this":[25],"paper,":[26],"minimum":[27],"kinetic":[28],"energy":[29],"(MKE)":[30],"is":[31,86,106],"concerned":[32],"as":[33],"a":[34,43,90,101,122,142],"performance":[35,144],"index":[36],"planning":[39],"and":[40,57,118],"control":[41],"of":[42,60,71],"dual-arm":[44,123,154],"system.":[46,156],"First,":[47],"two":[48,77],"sub":[49,78],"schemes":[50,79],"are":[51,64,80,129],"formulated":[52,98],"on":[53,66,109,121],"left":[55],"arm":[56,59],"right":[58],"robot,":[62],"which":[63,85],"constructed":[65],"velocity":[67],"level":[68],"with":[69],"consideration":[70],"manipulators'":[72],"physical":[73],"constraints.":[74],"Then,":[75],"unified":[81],"into":[82,89],"one":[83],"scheme,":[84],"finally":[87],"transformed":[88],"quadratic":[91],"program":[92],"(QP)":[93],"problem.":[94],"For":[95],"solving":[96,146],"QP":[99],"problem,":[100],"recurrent":[102],"neural":[103],"network":[104],"(RNN)":[105],"devised":[107,138],"based":[108],"Lagrange":[111],"multiplier":[112],"method.":[113],"At":[114],"last,":[115],"simulations":[117],"simulative":[119],"experiments":[120],"redundant":[124],"system":[126],"named":[127],"Baxter":[128],"carried":[130],"out.":[131],"The":[132],"simulation":[133],"results":[134],"reveal":[135],"that":[136],"RNN":[139],"model":[140],"has":[141],"good":[143],"presented":[148],"MKE":[149],"scheme":[150],"applying":[151]},"counts_by_year":[],"updated_date":"2026-04-12T07:58:50.170612","created_date":"2025-10-10T00:00:00"}
