{"id":"https://openalex.org/W4404238300","doi":"https://doi.org/10.1109/lra.2024.3495579","title":"Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks","display_name":"Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks","publication_year":2024,"publication_date":"2024-11-11","ids":{"openalex":"https://openalex.org/W4404238300","doi":"https://doi.org/10.1109/lra.2024.3495579"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3495579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3495579","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2411.05616","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093745490","display_name":"Hendrik Sch\u00e4fke","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hendrik Sch\u00e4fke","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0009-0001-3651-3663","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095692661","display_name":"Tim-Lukas Habich","orcid":"https://orcid.org/0000-0003-4167-8443"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim-Lukas Habich","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4167-8443","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114592608","display_name":"Christian Muhmann","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Muhmann","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0009-0005-9161-1804","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028312231","display_name":"Simon F. G. Ehlers","orcid":"https://orcid.org/0000-0001-5524-6639"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon F. G. Ehlers","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5524-6639","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039578386","display_name":"Thomas Seel","orcid":"https://orcid.org/0000-0002-6920-1690"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Seel","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6920-1690","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040515531","display_name":"Moritz Schappler","orcid":"https://orcid.org/0000-0001-7952-7363"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Schappler","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7952-7363","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114112103"],"apc_list":null,"apc_paid":null,"fwci":1.8538,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.85078137,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"9","issue":"12","first_page":"11609","last_page":"11616"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9950000047683716,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9941999912261963,"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/artificial-neural-network","display_name":"Artificial neural network","score":0.6525288224220276},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5943917036056519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5745763778686523},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5693840980529785},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5680863857269287},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5121940970420837},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.5099438428878784},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45742711424827576},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4121987819671631},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3509794771671295},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22485795617103577},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11886125802993774}],"concepts":[{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6525288224220276},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5943917036056519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5745763778686523},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5693840980529785},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5680863857269287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5121940970420837},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.5099438428878784},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45742711424827576},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4121987819671631},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3509794771671295},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22485795617103577},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11886125802993774},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2024.3495579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3495579","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:repo.uni-hannover.de:123456789/20234","is_oa":false,"landing_page_url":"https://repo.uni-hannover.de/handle/123456789/20234","pdf_url":null,"source":{"id":"https://openalex.org/S4306401575","display_name":"Institutional Repository of Leibniz Universit\u00e4t Hannover (Leibniz Universit\u00e4t Hannover)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114112103","host_organization_name":"Leibniz University Hannover","host_organization_lineage":["https://openalex.org/I114112103"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"doc-type:Article"},{"id":"pmh:oai:arXiv.org:2411.05616","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.05616","pdf_url":"https://arxiv.org/pdf/2411.05616","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2411.05616","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.05616","pdf_url":"https://arxiv.org/pdf/2411.05616","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4851109466","display_name":"Hydraulischer schlangenartiger Roboter f\u00fcr die Endoskopie","funder_award_id":"433586601","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G608651160","display_name":null,"funder_award_id":"INST 187/742\u20101 FUGG","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1598796236","https://openalex.org/W2064675550","https://openalex.org/W2065682774","https://openalex.org/W2215086970","https://openalex.org/W2410712669","https://openalex.org/W2511924737","https://openalex.org/W2529731305","https://openalex.org/W2741086304","https://openalex.org/W2782435507","https://openalex.org/W2842089854","https://openalex.org/W2843252114","https://openalex.org/W2901112449","https://openalex.org/W2938361870","https://openalex.org/W2964199361","https://openalex.org/W2964821937","https://openalex.org/W3007059274","https://openalex.org/W3037833767","https://openalex.org/W3091380529","https://openalex.org/W3133349997","https://openalex.org/W3150395494","https://openalex.org/W3158338937","https://openalex.org/W3204719635","https://openalex.org/W4206160094","https://openalex.org/W4210478179","https://openalex.org/W4285149089","https://openalex.org/W4285246866","https://openalex.org/W4313639260","https://openalex.org/W4321380998","https://openalex.org/W4367046608","https://openalex.org/W4376605646","https://openalex.org/W4378192004","https://openalex.org/W4386057055","https://openalex.org/W4388739178","https://openalex.org/W4391157322","https://openalex.org/W4392979569","https://openalex.org/W4394812045","https://openalex.org/W4396875100","https://openalex.org/W6635679246","https://openalex.org/W6728050389","https://openalex.org/W6774926797","https://openalex.org/W6860350208"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W1839440842","https://openalex.org/W4251946813","https://openalex.org/W2885820669","https://openalex.org/W1981727740","https://openalex.org/W2368407738","https://openalex.org/W2143511391"],"abstract_inverted_index":{"Soft":[0],"robots":[1,42,106],"pose":[2],"difficulties":[3],"in":[4,104,155],"terms":[5],"of":[6,39,58,67,98,136,163,187],"control,":[7],"requiring":[8],"novel":[9],"strategies":[10],"to":[11,22,79,108,152],"effectively":[12],"manipulate":[13],"their":[14],"compliant":[15],"structures.":[16],"Model-based":[17],"approaches":[18,35],"face":[19],"challenges":[20],"due":[21,107],"the":[23,56,80,96,133,137,192],"high":[24],"dimensionality":[25],"and":[26,89],"nonlinearities":[27],"such":[28],"as":[29],"hysteresis":[30,99],"effects.":[31],"In":[32,48],"contrast,":[33],"learning-based":[34,178],"provide":[36],"nonlinear":[37,127],"models":[38],"different":[40],"soft":[41,61,105],"based":[43,71,166],"only":[44],"on":[45,72,167],"measured":[46,150],"data.":[47],"this":[49],"letter,":[50],"recurrent":[51,74],"neural":[52],"networks":[53,88],"(RNNs)":[54],"predict":[55],"behavior":[57],"an":[59,184],"articulated":[60],"robot":[62],"(ASR)":[63],"with":[64,183,191],"five":[65],"degrees":[66],"freedom":[68],"(DoF).":[69],"RNNs":[70],"gated":[73],"units":[75],"(GRUs)":[76],"are":[77,102],"compared":[78],"more":[81],"commonly":[82],"used":[83,124],"long":[84],"short-term":[85],"memory":[86],"(LSTM)":[87],"show":[90],"better":[91],"accuracy.":[92],"The":[93,120,176],"recurrence":[94],"enables":[95,160,180],"capture":[97],"effects":[100],"that":[101,148],"inherent":[103],"viscoelasticity":[109],"or":[110],"friction":[111],"but":[112],"cannot":[113],"be":[114,153],"captured":[115],"by":[116],"simple":[117],"feedforward":[118],"networks.":[119],"data-driven":[121],"model":[122,128],"is":[123,141,146,171],"within":[125],"a":[126],"predictive":[129],"control":[130,157],"(NMPC),":[131],"whereby":[132],"correct":[134],"handling":[135],"RNN's":[138],"hidden":[139],"states":[140],"focused.":[142],"A":[143],"training":[144],"approach":[145],"presented":[147],"allows":[149],"values":[151],"utilized":[154],"each":[156],"cycle.":[158],"This":[159],"accurate":[161],"predictions":[162],"short":[164],"horizons":[165],"sensor":[168],"data,":[169],"which":[170],"crucial":[172],"for":[173],"closed-loop":[174],"NMPC.":[175],"proposed":[177],"NMPC":[179],"trajectory":[181],"tracking":[182],"average":[185],"error":[186],"1.2$\\mathrm{^{\\circ":[188],"}}$in":[189],"experiments":[190],"pneumatic":[193],"five-DoF":[194],"ASR.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":6}],"updated_date":"2026-08-08T01:25:22.217667","created_date":"2024-11-12T00:00:00"}
