{"id":"https://openalex.org/W4417438705","doi":"https://doi.org/10.1109/lra.2025.3645663","title":"Physics-Informed Passive Motion Paradigm for Parallel Robots: A High-Precision Motor-Primitives Framework","display_name":"Physics-Informed Passive Motion Paradigm for Parallel Robots: A High-Precision Motor-Primitives Framework","publication_year":2025,"publication_date":"2025-12-17","ids":{"openalex":"https://openalex.org/W4417438705","doi":"https://doi.org/10.1109/lra.2025.3645663"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3645663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3645663","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":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.whiterose.ac.uk/id/eprint/235666/1/accepted%20version.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Fuli Wang","orcid":"https://orcid.org/0000-0003-2102-8670"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fuli Wang","raw_affiliation_strings":["School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, U.K","School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0003-2102-8670","affiliations":[{"raw_affiliation_string":"School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]},{"raw_affiliation_string":"School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, United Kingdom","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fazair Nizar Siraj","orcid":"https://orcid.org/0009-0007-6260-807X"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fazair Nizar Siraj","raw_affiliation_strings":["School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, U.K","School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, United Kingdom"],"raw_orcid":"https://orcid.org/0009-0007-6260-807X","affiliations":[{"raw_affiliation_string":"School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]},{"raw_affiliation_string":"School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, United Kingdom","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022038523","display_name":"Windo Hutabarat","orcid":"https://orcid.org/0000-0001-7393-7695"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Windo Hutabarat","raw_affiliation_strings":["School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, U.K","School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0001-7393-7695","affiliations":[{"raw_affiliation_string":"School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]},{"raw_affiliation_string":"School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, United Kingdom","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066657755","display_name":"Ashutosh Tiwari","orcid":"https://orcid.org/0000-0002-6197-1519"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ashutosh Tiwari","raw_affiliation_strings":["School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, U.K","School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-6197-1519","affiliations":[{"raw_affiliation_string":"School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]},{"raw_affiliation_string":"School of Mechanical, Aerospace and Civil Engineering, The University of Sheffield, Sheffield, United Kingdom","institution_ids":["https://openalex.org/I91136226"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I91136226"],"apc_list":null,"apc_paid":null,"fwci":0.5155,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.68885434,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"11","issue":"2","first_page":"1874","last_page":"1881"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.4580000042915344,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.4580000042915344,"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/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.10769999772310257,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.0868000015616417,"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/kinematics","display_name":"Kinematics","score":0.7325000166893005},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6462000012397766},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5996999740600586},{"id":"https://openalex.org/keywords/coherence","display_name":"Coherence (philosophical gambling strategy)","score":0.527400016784668},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4950000047683716},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.47369998693466187},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44179999828338623},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4262000024318695},{"id":"https://openalex.org/keywords/attractor","display_name":"Attractor","score":0.4043000042438507}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7325000166893005},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6462000012397766},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6184999942779541},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5996999740600586},{"id":"https://openalex.org/C2781181686","wikidata":"https://www.wikidata.org/wiki/Q4226068","display_name":"Coherence (philosophical gambling strategy)","level":2,"score":0.527400016784668},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4950000047683716},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.47369998693466187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4625000059604645},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44179999828338623},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4262000024318695},{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.4043000042438507},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.3776000142097473},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.37549999356269836},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35659998655319214},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.3481999933719635},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.33739998936653137},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.3346000015735626},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31700000166893005},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.28349998593330383},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28290000557899475},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2662000060081482},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.26100000739097595}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3645663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3645663","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:eprints.whiterose.ac.uk:235666","is_oa":true,"landing_page_url":"https://orcid.org/0000-0003-2102-8670>,","pdf_url":"https://eprints.whiterose.ac.uk/id/eprint/235666/1/accepted%20version.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"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":"Article"}],"best_oa_location":{"id":"pmh:oai:eprints.whiterose.ac.uk:235666","is_oa":true,"landing_page_url":"https://orcid.org/0000-0003-2102-8670>,","pdf_url":"https://eprints.whiterose.ac.uk/id/eprint/235666/1/accepted%20version.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"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":"Article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8551194424","display_name":"Robotic skill transfer and augmentation for contact-rich tasks in manufacturing (STAMAN)","funder_award_id":"EP/Y02270X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4417438705.pdf","grobid_xml":"https://content.openalex.org/works/W4417438705.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1983607131","https://openalex.org/W1985525293","https://openalex.org/W2013135580","https://openalex.org/W2017239762","https://openalex.org/W2042013030","https://openalex.org/W2060874116","https://openalex.org/W2066473871","https://openalex.org/W2067440245","https://openalex.org/W2074923931","https://openalex.org/W2136719407","https://openalex.org/W2328685658","https://openalex.org/W2611484009","https://openalex.org/W2799330331","https://openalex.org/W2899283552","https://openalex.org/W2948705125","https://openalex.org/W2950069298","https://openalex.org/W2962834855","https://openalex.org/W2972553682","https://openalex.org/W2981260474","https://openalex.org/W3128528928","https://openalex.org/W3202679564","https://openalex.org/W4220815533","https://openalex.org/W4285803836","https://openalex.org/W4295046613","https://openalex.org/W4360980631","https://openalex.org/W4389665357","https://openalex.org/W4392446101","https://openalex.org/W4399878157","https://openalex.org/W4402559779","https://openalex.org/W4405785677","https://openalex.org/W4405787804","https://openalex.org/W4409620067"],"related_works":[],"abstract_inverted_index":{"Complex":[0],"embodied":[1],"systems,":[2],"whether":[3],"biological":[4],"or":[5,82],"robotic,":[6],"must":[7],"continuously":[8],"generate":[9],"goal-directed":[10],"behaviors":[11],"while":[12],"preserving":[13],"coherence":[14],"between":[15,26],"motor":[16,44,70],"intention":[17,27],"and":[18,28,39,98,123,135,143],"physical":[19,96,136],"feasibility.":[20],"In":[21],"parallel":[22,54,147],"robots,":[23],"this":[24],"link":[25],"mechanics":[29],"becomes":[30],"particularly":[31],"challenging":[32],"due":[33],"to":[34,93,120],"their":[35],"nonlinear,":[36],"over-constrained":[37],"kinematics":[38,89],"the":[40,66,85,105,139],"absence":[41],"of":[42,69],"intuitive":[43],"primitives.":[45],"This":[46],"letter":[47],"introduces":[48],"a":[49,109],"passive":[50],"motion":[51,63,100],"paradigm":[52],"for":[53],"robots":[55],"using":[56],"self-supervised":[57],"physics-informed":[58],"neural":[59,91,112],"networks,":[60],"which":[61],"reformulates":[62],"generation":[64],"as":[65,108],"dynamic":[67],"unfolding":[68],"primitives":[71],"driven":[72],"by":[73],"attractor":[74],"fields":[75,92],"in":[76],"actuator":[77],"space.":[78],"Unlike":[79],"traditional":[80],"forward":[81],"optimization-based":[83],"formulations,":[84],"framework":[86],"integrates":[87],"analytical":[88,115],"with":[90,117],"ensure":[94],"both":[95],"consistency":[97],"adaptive":[99],"generation.":[101],"The":[102],"method":[103],"estimates":[104],"Jacobian":[106],"matrix":[107],"physically":[110],"constrained":[111],"field,":[113],"merging":[114],"structure":[116],"data-driven":[118],"learning":[119],"achieve":[121],"robust":[122],"interpretable":[124],"behavior":[125],"without":[126],"relying":[127],"on":[128],"iterative":[129],"numerical":[130],"solvers.":[131],"Theoretical":[132],"analysis,":[133],"simulations,":[134],"experiments":[137],"demonstrate":[138],"framework's":[140],"accuracy,":[141],"stability,":[142],"adaptability":[144],"across":[145],"different":[146],"mechanisms.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-12-17T00:00:00"}