{"id":"https://openalex.org/W4388240420","doi":"https://doi.org/10.1109/lra.2023.3329620","title":"Physics-Informed Neural Network for Model Prediction and Dynamics Parameter Identification of Collaborative Robot Joints","display_name":"Physics-Informed Neural Network for Model Prediction and Dynamics Parameter Identification of Collaborative Robot Joints","publication_year":2023,"publication_date":"2023-11-02","ids":{"openalex":"https://openalex.org/W4388240420","doi":"https://doi.org/10.1109/lra.2023.3329620"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3329620","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3329620","pdf_url":null,"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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102724330","display_name":"Xingyu Yang","orcid":"https://orcid.org/0000-0002-7043-4686"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Xingyu Yang","raw_affiliation_strings":["Department of Mechanical and Production Engineering, Aarhus University, Aarhus N, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-7043-4686","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Production Engineering, Aarhus University, Aarhus N, Denmark","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103093127","display_name":"Yixiong Du","orcid":"https://orcid.org/0009-0008-1601-573X"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Yixiong Du","raw_affiliation_strings":["Department of Mechanical and Production Engineering, Aarhus University, Aarhus N, Denmark"],"raw_orcid":"https://orcid.org/0009-0008-1601-573X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Production Engineering, Aarhus University, Aarhus N, Denmark","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055924793","display_name":"Leihui Li","orcid":"https://orcid.org/0000-0003-0923-5319"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Leihui Li","raw_affiliation_strings":["Department of Mechanical and Production Engineering, Aarhus University, Aarhus N, Denmark"],"raw_orcid":"https://orcid.org/0000-0003-0923-5319","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Production Engineering, Aarhus University, Aarhus N, Denmark","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073685022","display_name":"Zhengxue Zhou","orcid":"https://orcid.org/0000-0001-9478-9361"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]},{"id":"https://openalex.org/I2802641067","display_name":"Leverhulme Trust","ror":"https://ror.org/012mzw131","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I2802641067"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhengxue Zhou","raw_affiliation_strings":["Leverhulme Research Centre for Functional Materials Design, University of Liverpool, Liverpool, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9478-9361","affiliations":[{"raw_affiliation_string":"Leverhulme Research Centre for Functional Materials Design, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781","https://openalex.org/I2802641067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100719433","display_name":"Xuping Zhang","orcid":"https://orcid.org/0000-0002-7498-495X"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Xuping Zhang","raw_affiliation_strings":["Department of Mechanical and Production Engineering, Aarhus University, Aarhus N, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-7498-495X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Production Engineering, Aarhus University, Aarhus N, Denmark","institution_ids":["https://openalex.org/I204337017"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.0148,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.9819494,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"8","issue":"12","first_page":"8462","last_page":"8469"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9994000196456909,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9994000196456909,"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9972000122070312,"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/robot","display_name":"Robot","score":0.7220189571380615},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6089485883712769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5544905066490173},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5140353441238403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49886250495910645},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.4740445613861084},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4513567388057709},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.44508597254753113},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4211958348751068},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.42034605145454407},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39906859397888184},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35959428548812866},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23199477791786194},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12810972332954407},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09985336661338806}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7220189571380615},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6089485883712769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5544905066490173},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5140353441238403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49886250495910645},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.4740445613861084},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4513567388057709},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.44508597254753113},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4211958348751068},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.42034605145454407},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39906859397888184},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35959428548812866},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23199477791786194},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12810972332954407},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09985336661338806},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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/lra.2023.3329620","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3329620","pdf_url":null,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:publications/b1891e43-eddf-474e-b2bb-c12db1d844e9","is_oa":false,"landing_page_url":"https://pure.au.dk/portal/en/publications/b1891e43-eddf-474e-b2bb-c12db1d844e9","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Yang, X, Du, Y, Li, L, Zhou, Z & Zhang, X 2023, 'Physics-Informed Neural Network for Model Prediction and Dynamics Parameter Identification of Collaborative Robot Joints', IEEE Robotics and Automation Letters, vol. 8, no. 12, pp. 8462-8469. https://doi.org/10.1109/LRA.2023.3329620","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5199999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1967678215","https://openalex.org/W2129799587","https://openalex.org/W2293200354","https://openalex.org/W2600225739","https://openalex.org/W2625926532","https://openalex.org/W2783813470","https://openalex.org/W2889522259","https://openalex.org/W2899283552","https://openalex.org/W2903397918","https://openalex.org/W2919115771","https://openalex.org/W2942751004","https://openalex.org/W2968441584","https://openalex.org/W2997814214","https://openalex.org/W2998588901","https://openalex.org/W2998644037","https://openalex.org/W3014009018","https://openalex.org/W3044404607","https://openalex.org/W3085522432","https://openalex.org/W3087037479","https://openalex.org/W3087736720","https://openalex.org/W3091611406","https://openalex.org/W3092172785","https://openalex.org/W3100396494","https://openalex.org/W3100997236","https://openalex.org/W3103770055","https://openalex.org/W3105648287","https://openalex.org/W3197694049","https://openalex.org/W3197743053","https://openalex.org/W3201579698","https://openalex.org/W4220717841","https://openalex.org/W4231367092","https://openalex.org/W4244912679","https://openalex.org/W4246840991","https://openalex.org/W4285102252","https://openalex.org/W4285102602","https://openalex.org/W4285154232","https://openalex.org/W4285818764","https://openalex.org/W4285891006","https://openalex.org/W4288039037","https://openalex.org/W6762509139"],"related_works":["https://openalex.org/W2081900870","https://openalex.org/W2037549926","https://openalex.org/W2345479200","https://openalex.org/W2183306018","https://openalex.org/W2849310602","https://openalex.org/W3006008237","https://openalex.org/W2419146053","https://openalex.org/W4388890789","https://openalex.org/W2088247287","https://openalex.org/W2963903416"],"abstract_inverted_index":{"Collaborative":[0],"robots":[1,33],"have":[2],"promising":[3],"potential":[4,173],"for":[5,174],"widespread":[6],"use":[7],"in":[8],"small-and-medium-sized":[9],"enterprise":[10],"(SME)":[11],"manufacturing":[12],"and":[13,27,66,101,112,118,123,128,145,154,165],"production":[14],"due":[15,38],"to":[16,39,64,110,150,176],"the":[17,29,40,48,53,76,81,119,142,151,155,169,172],"development":[18],"of":[19,31,44,139],"increasingly":[20],"sophisticated":[21],"Human-Robot":[22],"Collaboration":[23],"technologies.":[24],"However,":[25],"predicting":[26,98],"identifying":[28],"behavior":[30],"collaborative":[32,68,114],"remains":[34],"a":[35,59,85,136],"challenging":[36],"problem":[37],"significant":[41],"non-linear":[42,156],"properties":[43],"their":[45],"unique":[46],"gearbox,":[47],"harmonic":[49],"drive.":[50],"To":[51],"tackle":[52],"engineering":[54],"problem,":[55],"this":[56],"work":[57],"proposes":[58],"physics-informed":[60],"neural":[61,87],"network":[62,88],"(PINN)":[63],"predict":[65,111],"identify":[67,113],"robot":[69,115],"joint":[70,116],"dynamics.":[71],"The":[72,105,132],"procedure":[73],"involves":[74],"deriving":[75],"state-space":[77,158],"dynamic":[78,103,166,178],"model,":[79],"embedding":[80],"system's":[82],"dynamics":[83],"into":[84],"recurrent":[86],"(RNN)":[89],"with":[90,141,163],"customized":[91],"Runge-Kutta":[92],"cells,":[93],"obtaining":[94],"labeled":[95],"training":[96],"data,":[97],"system":[99],"responses,":[100],"estimating":[102],"parameters.":[104],"proposed":[106],"method":[107],"is":[108],"applied":[109],"dynamics,":[117],"results":[120,134],"are":[121],"verified":[122],"validated":[124],"through":[125],"numerical":[126],"simulations":[127],"experimental":[129],"testing,":[130],"respectively.":[131],"obtained":[133],"demonstrate":[135],"high":[137],"level":[138],"agreement":[140],"ground":[143],"truth":[144],"exhibit":[146],"superior":[147],"performance":[148],"compared":[149],"conventional":[152],"PINN":[153,170],"grey-box":[157],"estimation":[159],"algorithm":[160],"when":[161],"confronted":[162],"non-linearity":[164],"coupling.":[167],"Moreover,":[168],"exhibits":[171],"extension":[175],"various":[177],"systems.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":15},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}