{"id":"https://openalex.org/W4226256030","doi":"https://doi.org/10.1109/lra.2022.3157369","title":"Controlling Soft Robotic Arms Using Continual Learning","display_name":"Controlling Soft Robotic Arms Using Continual Learning","publication_year":2022,"publication_date":"2022-03-08","ids":{"openalex":"https://openalex.org/W4226256030","doi":"https://doi.org/10.1109/lra.2022.3157369"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3157369","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3157369","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9647862/09730039.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9647862/09730039.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013814737","display_name":"Francesco Piqu\u00e9","orcid":"https://orcid.org/0000-0002-9101-0428"},"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":"Francesco Pique","raw_affiliation_strings":["The BioRobotics Insitute, Scuola Superiore Sant’Anna, Pisa, Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Insitute, Scuola Superiore Sant’Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074317528","display_name":"Hari Teja Kalidindi","orcid":"https://orcid.org/0000-0003-2634-7953"},"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":"Hari Teja Kalidindi","raw_affiliation_strings":["The BioRobotics Insitute, Scuola Superiore Sant’Anna, Pisa, Italy","Institute of Communication Technologies, Electronics and Applied Mathematics, Louvain-la-Neuve, Belgium","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Insitute, Scuola Superiore Sant’Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Institute of Communication Technologies, Electronics and Applied Mathematics, Louvain-la-Neuve, Belgium","institution_ids":[]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026199606","display_name":"Lorenzo Fruzzetti","orcid":"https://orcid.org/0000-0001-8294-6606"},"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":"Lorenzo Fruzzetti","raw_affiliation_strings":["The BioRobotics Insitute, Scuola Superiore Sant’Anna, Pisa, Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Insitute, Scuola Superiore Sant’Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045065209","display_name":"Cecilia Laschi","orcid":"https://orcid.org/0000-0001-5248-1043"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Cecilia Laschi","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048610531","display_name":"Arianna Menciassi","orcid":"https://orcid.org/0000-0001-6348-1081"},"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":"Arianna Menciassi","raw_affiliation_strings":["The BioRobotics Insitute, Scuola Superiore Sant’Anna, Pisa, Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Insitute, Scuola Superiore Sant’Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","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":["The BioRobotics Insitute, Scuola Superiore Sant’Anna, Pisa, Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Insitute, Scuola Superiore Sant’Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, 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/A5013814737"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":5.3819,"has_fulltext":true,"cited_by_count":43,"citation_normalized_percentile":{"value":0.96158778,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"5469","last_page":"5476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9872000217437744,"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/T10635","display_name":"Hydraulic Fracturing and Reservoir Analysis","score":0.9846000075340271,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/forgetting","display_name":"Forgetting","score":0.6686151027679443},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.654177725315094},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6228586435317993},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5997779369354248},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.545669674873352},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5023045539855957},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4939485192298889},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.4572858214378357},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4420194625854492},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36395901441574097},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35689833760261536},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.337027907371521},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3280106484889984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24146372079849243}],"concepts":[{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.6686151027679443},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.654177725315094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6228586435317993},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5997779369354248},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.545669674873352},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5023045539855957},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4939485192298889},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.4572858214378357},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4420194625854492},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36395901441574097},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35689833760261536},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.337027907371521},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3280106484889984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24146372079849243},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3157369","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3157369","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9647862/09730039.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:zenodo.org:7128106","is_oa":true,"landing_page_url":"https://zenodo.org/record/7128106","pdf_url":"https://zenodo.org/record/7128106","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters 7(2) 5469-5476","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:www.iris.sssup.it:11382/544565","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/544565","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":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/lra.2022.3157369","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3157369","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9647862/09730039.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2657901741","display_name":null,"funder_award_id":"863212","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8051717526","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8159361754","display_name":null,"funder_award_id":"Human Brain Project","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8318064016","display_name":null,"funder_award_id":"Horizon","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8767435255","display_name":null,"funder_award_id":"945539","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4226256030.pdf","grobid_xml":"https://content.openalex.org/works/W4226256030.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W2053485789","https://openalex.org/W2073677587","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2495535193","https://openalex.org/W2560647685","https://openalex.org/W2610150749","https://openalex.org/W2741086304","https://openalex.org/W2782435507","https://openalex.org/W2788388592","https://openalex.org/W2870735678","https://openalex.org/W2901112449","https://openalex.org/W2967429195","https://openalex.org/W2994635009","https://openalex.org/W2996514457","https://openalex.org/W3036541334","https://openalex.org/W3180197665"],"related_works":["https://openalex.org/W4289718052","https://openalex.org/W2164121020","https://openalex.org/W2145559838","https://openalex.org/W3116498279","https://openalex.org/W4287549553","https://openalex.org/W3183027292","https://openalex.org/W2794885965","https://openalex.org/W2974871044","https://openalex.org/W4310285384","https://openalex.org/W2104218666"],"abstract_inverted_index":{"Learning-based":[0],"modeling":[1],"and":[2],"control":[3,85,161,191],"of":[4,49,123,149,183],"soft":[5,50,125,132,189],"robots":[6],"is":[7,109],"advantageous":[8],"due":[9,71],"to":[10,14,29,35,58,62,65,72,101,111,169],"neural":[11,115],"network\u2019s":[12],"ability":[13],"capture":[15],"complex":[16],"dynamical":[17],"effects":[18],"with":[19],"low":[20],"computational":[21],"cost.":[22],"Continual":[23],"Learning":[24],"techniques":[25],"add":[26],"further":[27],"value":[28],"these":[30],"methods":[31,186],"by":[32],"allowing":[33],"networks":[34],"learn":[36],"from":[37],"continuously":[38,63,112,151],"available":[39],"data":[40],"without":[41,82],"incurring":[42],"into":[43],"catastrophic":[44],"forgetting.":[45],"In":[46,103],"the":[47,84,97,120,147,159,181,188],"context":[48,148],"robotic":[51],"control,":[52],"such":[53],"capability":[54],"can":[55,91,163],"be":[56,80,92],"exploited":[57],"design":[59],"controllers":[60],"able":[61],"adapt":[64],"changes":[66],"in":[67,143,146,187],"robot":[68,133,190],"dynamics,":[69],"frequently":[70],"material":[73],"degradation":[74],"or":[75],"external":[76,98,121],"interactions.":[77],"This":[78,174],"should":[79],"done":[81],"forgetting":[83],"under":[86],"normal":[87],"working":[88],"conditions":[89,171],"which":[90],"recovered":[93],"as":[94,96],"soon":[95],"interactions":[99],"return":[100],"normal.":[102],"this":[104,136],"letter":[105,175],"elastic":[106],"weight":[107],"consolidation":[108],"used":[110],"re-tune":[113],"a":[114,124,131,150,177],"network-based":[116],"controller":[117],"while":[118],"changing":[119,152],"loading":[122,153,170],"robot.":[126],"We":[127,155],"demonstrate":[128],"experimentally":[129],"on":[130],"arm":[134],"that":[135,158],"method":[137],"outperforms":[138],"plain":[139],"stochastic":[140],"gradient":[141],"descent":[142],"tracking":[144],"tasks,":[145],"condition.":[154],"also":[156],"show":[157],"proposed":[160],"architecture":[162],"improve":[164],"its":[165],"performances":[166],"when":[167],"exposed":[168],"already":[172],"experienced.":[173],"represents":[176],"first":[178],"step":[179],"towards":[180],"introduction":[182],"continual":[184],"learning":[185],"field.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}