{"id":"https://openalex.org/W2775361682","doi":"https://doi.org/10.1109/iros.2017.8206123","title":"Model-free control for soft manipulators based on reinforcement learning","display_name":"Model-free control for soft manipulators based on reinforcement learning","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775361682","doi":"https://doi.org/10.1109/iros.2017.8206123","mag":"2775361682"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5035243024","display_name":"Xuanke You","orcid":"https://orcid.org/0009-0007-0635-8264"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuanke You","raw_affiliation_strings":["School of Computer Science, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063923431","display_name":"Yixiao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixiao Zhang","raw_affiliation_strings":["School of Computer Science, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005207189","display_name":"Xiaotong Chen","orcid":"https://orcid.org/0000-0002-6450-2005"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaotong Chen","raw_affiliation_strings":["School of Computer Science, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100738652","display_name":"Xinghua Liu","orcid":"https://orcid.org/0000-0002-2761-7006"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinghua Liu","raw_affiliation_strings":["School of Nuclear Science, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Nuclear Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059406905","display_name":"Zhanchi Wang","orcid":"https://orcid.org/0000-0003-3675-1159"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhanchi Wang","raw_affiliation_strings":["School of Nuclear Science, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Nuclear Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100712105","display_name":"Hao Jiang","orcid":"https://orcid.org/0000-0002-6769-0785"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Jiang","raw_affiliation_strings":["School of Computer Science, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084710341","display_name":"Xiaoping Chen","orcid":"https://orcid.org/0000-0001-8992-9286"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoping Chen","raw_affiliation_strings":["School of Computer Science, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5035243024"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":1.2746,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.79068263,"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":"2909","last_page":"2915"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9747999906539917,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9610000252723694,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8028268218040466},{"id":"https://openalex.org/keywords/software-portability","display_name":"Software portability","score":0.7504913210868835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7156398296356201},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6961743831634521},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46806326508522034},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.44215187430381775},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4319482743740082},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.42480552196502686},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41441112756729126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3853102922439575},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3458503484725952},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33328303694725037},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22249945998191833}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8028268218040466},{"id":"https://openalex.org/C63000827","wikidata":"https://www.wikidata.org/wiki/Q3080428","display_name":"Software portability","level":2,"score":0.7504913210868835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7156398296356201},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6961743831634521},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46806326508522034},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44215187430381775},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4319482743740082},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.42480552196502686},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41441112756729126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3853102922439575},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3458503484725952},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33328303694725037},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22249945998191833},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":1,"locations":[{"id":"doi:10.1109/iros.2017.8206123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1499925623","https://openalex.org/W1515749184","https://openalex.org/W1579240551","https://openalex.org/W1811701620","https://openalex.org/W1982082424","https://openalex.org/W1988003703","https://openalex.org/W2073677587","https://openalex.org/W2079574144","https://openalex.org/W2116086091","https://openalex.org/W2318613964","https://openalex.org/W2592294539","https://openalex.org/W2621263557","https://openalex.org/W2739140755","https://openalex.org/W6734169033"],"related_works":["https://openalex.org/W2784803070","https://openalex.org/W2377544373","https://openalex.org/W2211967836","https://openalex.org/W2120994104","https://openalex.org/W1517479908","https://openalex.org/W2794878329","https://openalex.org/W2414535689","https://openalex.org/W148869540","https://openalex.org/W3163328464","https://openalex.org/W2892096679"],"abstract_inverted_index":{"Most":[0],"control":[1,53,76,84],"methods":[2,38],"of":[3,75],"soft":[4,65],"manipulators":[5],"are":[6],"developed":[7],"based":[8,55],"on":[9,56,62,72],"physical":[10,81],"models":[11],"derived":[12],"from":[13],"mathematical":[14],"analysis":[15],"or":[16],"learning":[17,58,74],"methods.":[18],"However,":[19],"due":[20],"to":[21,31,88,102],"internal":[22],"nonlinearity":[23],"and":[24,41,59,91],"external":[25],"uncertain":[26],"disturbances,":[27],"it":[28,61],"is":[29,86],"difficult":[30],"build":[32],"an":[33],"accurate":[34],"model,":[35],"further,":[36],"these":[37],"lack":[39],"robustness":[40],"portability":[42],"among":[43],"different":[44],"prototypes.":[45],"In":[46],"this":[47],"work,":[48],"we":[49,97],"propose":[50],"a":[51,63,99],"model-free":[52],"method":[54,101],"reinforcement":[57],"implement":[60],"multi-segment":[64],"manipulator":[66],"in":[67,93],"2D":[68],"plane,":[69],"which":[70],"focuses":[71],"the":[73,80,105],"strategy":[77,85],"rather":[78],"than":[79],"model.":[82],"The":[83],"validated":[87],"be":[89],"effective":[90],"robust":[92],"prototype":[94],"experiments,":[95],"where":[96],"design":[98],"simulation":[100],"speed":[103],"up":[104],"training":[106],"process.":[107]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2026-02-20T06:14:18.993340","created_date":"2025-10-10T00:00:00"}
