{"id":"https://openalex.org/W2792353687","doi":"https://doi.org/10.1109/robio.2017.8324612","title":"Learning to control space robots with flexible appendages using model-based policy search","display_name":"Learning to control space robots with flexible appendages using model-based policy search","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2792353687","doi":"https://doi.org/10.1109/robio.2017.8324612","mag":"2792353687"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324612","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5100739521","display_name":"Qiyuan Zhang","orcid":"https://orcid.org/0000-0003-0697-7800"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiyuan Zhang","raw_affiliation_strings":["Graduate School at Shenzhen, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010130426","display_name":"Deshan Meng","orcid":"https://orcid.org/0000-0002-9588-6662"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Deshan Meng","raw_affiliation_strings":["Graduate School at Shenzhen, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100737125","display_name":"Xueqian Wang","orcid":"https://orcid.org/0000-0003-3542-0593"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueqian Wang","raw_affiliation_strings":["Graduate School at Shenzhen, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Graduate School at Shenzhen, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075352865","display_name":"Weining Lu","orcid":"https://orcid.org/0000-0002-0927-1259"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weining Lu","raw_affiliation_strings":["Graduate School at Shenzhen, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39542836,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":null,"first_page":"1395","last_page":"1400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10325","display_name":"Astro and Planetary Science","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"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/T10406","display_name":"Planetary Science and Exploration","score":0.9451000094413757,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotic-spacecraft","display_name":"Robotic spacecraft","score":0.8798621892929077},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.716009795665741},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.6083752512931824},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5920217633247375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.528731107711792},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.49755385518074036},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4695212244987488},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44877588748931885},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4210895895957947},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.41473841667175293},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3610536456108093},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34729433059692383},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28923070430755615},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28374922275543213},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14845892786979675},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1475231647491455},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09773153066635132}],"concepts":[{"id":"https://openalex.org/C26355699","wikidata":"https://www.wikidata.org/wiki/Q1378139","display_name":"Robotic spacecraft","level":3,"score":0.8798621892929077},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.716009795665741},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.6083752512931824},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5920217633247375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.528731107711792},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.49755385518074036},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4695212244987488},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44877588748931885},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4210895895957947},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.41473841667175293},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3610536456108093},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34729433059692383},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28923070430755615},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28374922275543213},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14845892786979675},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1475231647491455},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09773153066635132},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324612","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1520597402","https://openalex.org/W1746819321","https://openalex.org/W1949804828","https://openalex.org/W1996417291","https://openalex.org/W2018705428","https://openalex.org/W2030186985","https://openalex.org/W2036184633","https://openalex.org/W2040323465","https://openalex.org/W2070165745","https://openalex.org/W2090308161","https://openalex.org/W2105229687","https://openalex.org/W2107091419","https://openalex.org/W2117629901","https://openalex.org/W2120057245","https://openalex.org/W2133428375","https://openalex.org/W2140557073","https://openalex.org/W2162717641","https://openalex.org/W2163949987","https://openalex.org/W2179284380","https://openalex.org/W2554830522","https://openalex.org/W2589833535","https://openalex.org/W2604585150","https://openalex.org/W4211049957","https://openalex.org/W6631149375","https://openalex.org/W6685744914"],"related_works":["https://openalex.org/W2466447974","https://openalex.org/W2063087735","https://openalex.org/W2319944227","https://openalex.org/W2120231561","https://openalex.org/W2063537610","https://openalex.org/W2903857423","https://openalex.org/W4200371700","https://openalex.org/W2155275887","https://openalex.org/W4315783468","https://openalex.org/W2139152606"],"abstract_inverted_index":{"Space":[0],"robot":[1,44,94,126,161],"is":[2,18,49,77,107,122],"one":[3],"of":[4,15,35,42,92,112,134,152,171],"the":[5,26,29,40,53,58,61,69,73,80,89,119,132,135,143,149,153,156,159,165,169,172],"promising":[6],"approach":[7],"to":[8,66,72,87,104,109,130],"perform":[9],"space":[10,16,43,93,113,125,160],"tasks.":[11],"Modeling":[12],"and":[13,28,155],"controlling":[14],"robots":[17],"complicated":[19],"caused":[20],"by":[21],"high":[22],"dynamics":[23,111],"coupling":[24,150],"between":[25],"manipulator":[27,62,154],"target":[30,59,166],"spacecraft.":[31],"Beyond":[32],"that,":[33],"vibration":[34],"flexible":[36],"appendages":[37],"mounted":[38],"on":[39,117],"base":[41],"can":[45,146,162],"be":[46,64],"excited,":[47],"which":[48,76,118],"not":[50],"expected":[51],"for":[52],"precise":[54],"control.":[55],"After":[56],"capturing":[57,70],"satellite,":[60],"will":[63],"controlled":[65],"move":[67],"from":[68,96],"configuration":[71],"berthing":[74],"configuration,":[75],"conveniently":[78],"servicing":[79],"target.":[81],"In":[82],"this":[83],"paper,":[84],"we":[85],"propose":[86],"learn":[88],"control":[90,120,151],"policy":[91,121],"directly":[95],"observed":[97,105],"trajectories.":[98],"A":[99],"Gaussian":[100],"regression":[101],"model":[102],"fitted":[103],"trajectories":[106],"used":[108,129],"approximate":[110],"robotic":[114],"system,":[115],"based":[116],"learned.":[123],"Plane":[124],"systems":[127],"are":[128],"verify":[131],"effectiveness":[133],"presented":[136],"approach.":[137],"The":[138],"simulation":[139],"results":[140],"indicate":[141],"that":[142],"proposed":[144],"method":[145],"well":[147],"achieve":[148],"base.":[157],"Moreover,":[158],"successfully":[163],"berth":[164],"while":[167],"suppressing":[168],"vibrations":[170],"structure.":[173]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}