{"id":"https://openalex.org/W4390603642","doi":"https://doi.org/10.1109/lra.2024.3349831","title":"Foam-Embedded Soft Robotic Joint With Inverse Kinematic Modeling by Iterative Self-Improving Learning","display_name":"Foam-Embedded Soft Robotic Joint With Inverse Kinematic Modeling by Iterative Self-Improving Learning","publication_year":2024,"publication_date":"2024-01-05","ids":{"openalex":"https://openalex.org/W4390603642","doi":"https://doi.org/10.1109/lra.2024.3349831"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3349831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349831","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/A5015125558","display_name":"Anlun Huang","orcid":"https://orcid.org/0000-0001-7573-3063"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Anlun Huang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-7573-3063","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101983904","display_name":"Y. Cao","orcid":"https://orcid.org/0009-0005-0260-5585"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongxi Cao","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0005-0260-5585","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiajie Guo","orcid":"https://orcid.org/0009-0001-9175-1920"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiajie Guo","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0001-9175-1920","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042505515","display_name":"Zhonggui Fang","orcid":"https://orcid.org/0000-0003-4988-4233"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhonggui Fang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-4988-4233","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025386167","display_name":"Yinyin Su","orcid":"https://orcid.org/0000-0002-4929-9926"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Yinyin Su","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-4929-9926","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684824","display_name":"Sicong Liu","orcid":"https://orcid.org/0000-0002-1872-5283"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sicong Liu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-1872-5283","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059499726","display_name":"Juan Yi","orcid":"https://orcid.org/0000-0002-5992-4254"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juan Yi","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-5992-4254","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100757641","display_name":"Hongqiang Wang","orcid":"https://orcid.org/0000-0002-7286-7514"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongqiang Wang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7286-7514","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian S. Dai","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-9729-1662","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045214230","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0002-7726-0770"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7726-0770","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5015125558"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":1.0604,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72343151,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"1756","last_page":"1763"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973000288009644,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7106949687004089},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6254566311836243},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.6144601702690125},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5845659971237183},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5764381289482117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5413146018981934},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4633294939994812},{"id":"https://openalex.org/keywords/inverse-method","display_name":"Inverse method","score":0.4613499641418457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40330520272254944},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2684742510318756},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23394691944122314},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20883366465568542},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1884734332561493},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.1294546127319336},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10231313109397888},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0987393856048584},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08501690626144409}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7106949687004089},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6254566311836243},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.6144601702690125},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5845659971237183},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5764381289482117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5413146018981934},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4633294939994812},{"id":"https://openalex.org/C2983319462","wikidata":"https://www.wikidata.org/wiki/Q15948129","display_name":"Inverse method","level":2,"score":0.4613499641418457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40330520272254944},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2684742510318756},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23394691944122314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20883366465568542},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1884734332561493},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.1294546127319336},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10231313109397888},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0987393856048584},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08501690626144409},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3349831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349831","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G2781048633","display_name":null,"funder_award_id":"U1913603","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5527454098","display_name":null,"funder_award_id":"2021A1515110658","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W2022171725","https://openalex.org/W2064675550","https://openalex.org/W2070869791","https://openalex.org/W2101667962","https://openalex.org/W2161573903","https://openalex.org/W2337157527","https://openalex.org/W2340853501","https://openalex.org/W2344522734","https://openalex.org/W2512635237","https://openalex.org/W2559753095","https://openalex.org/W2739636222","https://openalex.org/W2752165401","https://openalex.org/W2901112449","https://openalex.org/W2908579898","https://openalex.org/W3002768791","https://openalex.org/W3017043291","https://openalex.org/W3090462370","https://openalex.org/W3133349997","https://openalex.org/W3139257454","https://openalex.org/W3202992521","https://openalex.org/W3215522260","https://openalex.org/W4312720787","https://openalex.org/W4362457721"],"related_works":["https://openalex.org/W2898458249","https://openalex.org/W2755716217","https://openalex.org/W2350579355","https://openalex.org/W782748337","https://openalex.org/W1965568359","https://openalex.org/W2079386710","https://openalex.org/W2073336319","https://openalex.org/W4237522829","https://openalex.org/W1998983097","https://openalex.org/W2761062185"],"abstract_inverted_index":{"Soft":[0],"robotic":[1,59],"arms":[2],"have":[3],"gained":[4],"significant":[5],"attention":[6],"owing":[7],"to":[8,17,23,112],"their":[9,18],"flexibility":[10],"and":[11,30,46,72,151],"adaptability.":[12],"Nonetheless,":[13],"the":[14,24,55,66,87,135,142,148],"instability":[15],"due":[16],"high-elasticity":[19],"structure":[20],"further":[21],"leads":[22],"difficulty":[25],"of":[26,90,134,141],"precise":[27],"kinematic":[28],"modeling":[29,117,130],"control.":[31],"This":[32,50],"letter":[33],"introduces":[34],"a":[35,76,94,153],"novel":[36],"solution":[37],"employing":[38],"foam-embedded":[39],"joint":[40],"design":[41,64],"(Fe-Joint),":[42],"effectively":[43],"mitigating":[44],"oscillations":[45],"enhancing":[47,116],"motion":[48],"stability.":[49],"innovation":[51],"is":[52,145],"integrated":[53],"into":[54],"new":[56],"continuum":[57],"soft":[58],"arm":[60],"(Fe-Arm).":[61],"Through":[62],"iterative":[63,101],"optimization,":[65],"Fe-Arm":[67,155],"attains":[68],"superior":[69],"mechanical":[70,114],"performance":[71,118],"control":[73,124],"capabilities,":[74],"enabling":[75],"settling":[77],"state":[78],"in":[79],"0.4":[80],"seconds":[81],"post":[82],"external":[83],"force.":[84],"Enabled":[85],"by":[86],"quasi-static":[88],"behavior":[89],"Fe-Arm,":[91],"we":[92,126],"propose":[93],"long":[95],"short-term":[96],"memory":[97],"network":[98],"(LSTM)":[99],"based":[100],"self-improving":[102],"learning":[103],"strategy":[104],"(ISL)":[105],"for":[106],"end-to-end":[107],"inverse":[108],"kinematics":[109],"modeling,":[110],"tailored":[111],"Fe-Arm's":[113],"traits,":[115],"with":[119],"limited":[120],"data.":[121],"Investigating":[122],"key":[123],"parameters,":[125],"achieve":[127],"target":[128],"trajectory":[129,150],"errors":[131],"within":[132],"9%":[133],"workspace":[136],"radius.":[137],"The":[138],"generalization":[139],"potential":[140],"ISL":[143],"method":[144],"demonstrated":[146],"using":[147],"pentagonal":[149],"on":[152],"different":[154],"configuration.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
