{"id":"https://openalex.org/W2006438604","doi":"https://doi.org/10.1109/iros.2014.6942609","title":"Flexible and robust robotic arm design and skill learning by using recurrent neural networks","display_name":"Flexible and robust robotic arm design and skill learning by using recurrent neural networks","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2006438604","doi":"https://doi.org/10.1109/iros.2014.6942609","mag":"2006438604"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942609","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942609","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5078027200","display_name":"Boon Hwa Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Boon Hwa Tan","raw_affiliation_strings":["Institute for Infocomm Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057282687","display_name":"Huajin Tang","orcid":"https://orcid.org/0000-0002-9857-1543"},"institutions":[{"id":"https://openalex.org/I24185976","display_name":"Sichuan University","ror":"https://ror.org/011ashp19","country_code":"CN","type":"education","lineage":["https://openalex.org/I24185976"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Huajin Tang","raw_affiliation_strings":["Institute for Infocomm Research, Singapore","School of Computer Science, Sichuan University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]},{"raw_affiliation_string":"School of Computer Science, Sichuan University, China","institution_ids":["https://openalex.org/I24185976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046836420","display_name":"Rui Yan","orcid":"https://orcid.org/0000-0003-0048-3092"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Rui Yan","raw_affiliation_strings":["Institute for Infocomm Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000727773","display_name":"Jun Tani","orcid":"https://orcid.org/0000-0002-9131-9206"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun Tani","raw_affiliation_strings":["Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"522","last_page":"529"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9786999821662903,"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/grasp","display_name":"GRASP","score":0.8385705947875977},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.7316946983337402},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7302526831626892},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7198106050491333},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6884352564811707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.671540379524231},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6611714363098145},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6023441553115845},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.597195029258728},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5624516010284424},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4172172248363495},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3979235887527466}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8385705947875977},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.7316946983337402},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7302526831626892},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7198106050491333},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6884352564811707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.671540379524231},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6611714363098145},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6023441553115845},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.597195029258728},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5624516010284424},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4172172248363495},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3979235887527466},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2014.6942609","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942609","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.714.5350","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.714.5350","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www1.i2r.a-star.edu.sg/%7Ehtang/IRSO2014_0987_BehaviorLearning.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1965244358","https://openalex.org/W1989604857","https://openalex.org/W2017675832","https://openalex.org/W2025412857","https://openalex.org/W2073946099","https://openalex.org/W2079058524","https://openalex.org/W2100182432","https://openalex.org/W2109983327","https://openalex.org/W2111947800","https://openalex.org/W2118262422","https://openalex.org/W2120200810","https://openalex.org/W2128302674","https://openalex.org/W2135569231","https://openalex.org/W2139039898","https://openalex.org/W2151783584","https://openalex.org/W2156886697","https://openalex.org/W2157376352","https://openalex.org/W2162189406","https://openalex.org/W2162488100","https://openalex.org/W2184568988","https://openalex.org/W2399868584","https://openalex.org/W6668977452","https://openalex.org/W6682141014","https://openalex.org/W6686472638","https://openalex.org/W6712731235"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W2515493494"],"abstract_inverted_index":{"It":[0],"is":[1,12,75,106,128],"undeniable":[2],"that":[3],"the":[4,24,35,40,83,110,115,123,131],"ability":[5],"to":[6,20,34,43,56,70,108],"grasp":[7],"and":[8,79,92,112,134],"handle":[9],"an":[10,68],"object":[11,18,21,42],"vital":[13],"for":[14],"service":[15],"robots.":[16],"From":[17],"recognition":[19],"grasping":[22,49,59,146],"motion,":[23,60],"motion":[25,50],"execution":[26],"should":[27,51],"be":[28,44,52,65],"as":[29,31,67],"fast":[30],"possible.":[32],"Due":[33],"possible":[36],"position":[37],"variation":[38],"of":[39,48,85,114,122,136],"target":[41],"grasped,":[45],"online":[46],"planning":[47],"done.":[53],"In":[54],"order":[55],"achieve":[57],"flexible":[58],"recurrent":[61,86,116,140],"neural":[62,87,117,141],"network":[63,88,118,142],"could":[64],"implemented":[66],"alternative":[69],"conventional":[71],"manipulation":[72],"method":[73],"which":[74],"based":[76],"on":[77],"kinematic":[78],"dynamic":[80],"analysis.":[81],"However,":[82],"application":[84],"model":[89,144],"requires":[90],"good":[91],"easily":[93],"obtainable":[94],"training":[95,111],"data.":[96],"Hence,":[97],"a":[98,147],"novel":[99],"robotic":[100,125],"arm":[101,126],"design":[102,127],"with":[103,145],"high":[104],"flexibility":[105],"proposed":[107,124],"facilitate":[109],"implementation":[113],"model.":[119],"The":[120],"feasibility":[121],"evaluated":[129],"via":[130],"training,":[132],"learning":[133],"testing":[135],"stochastic":[137],"continuous":[138],"time":[139],"(S-CTRNN)":[143],"box":[148],"motion.":[149]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
