{"id":"https://openalex.org/W3002170672","doi":"https://doi.org/10.1109/robio49542.2019.8961669","title":"A Learning-based Inverse Kinematics Solver for a Multi-Segment Continuum Robot in Robot-Independent Mapping","display_name":"A Learning-based Inverse Kinematics Solver for a Multi-Segment Continuum Robot in Robot-Independent Mapping","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3002170672","doi":"https://doi.org/10.1109/robio49542.2019.8961669","mag":"3002170672"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961669","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/106402/1/Lai_Learning-Based_Inverse_Kinematics.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031063640","display_name":"Jiewen Lai","orcid":"https://orcid.org/0000-0002-2676-7387"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jiewen Lai","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong","Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011771040","display_name":"Kaicheng Huang","orcid":"https://orcid.org/0000-0003-0446-9722"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kaicheng Huang","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong","Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058337483","display_name":"Henry K. Chu","orcid":"https://orcid.org/0000-0001-7225-6927"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Henry K. Chu","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong","Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031063640"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":1.0914,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.76260964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"576","last_page":"582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9763000011444092,"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/T10892","display_name":"Drilling and Well Engineering","score":0.973800003528595,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.7847017645835876},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6099904775619507},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5988756418228149},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5820895433425903},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.576880693435669},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.5321067571640015},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4998290538787842},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4834080934524536},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.4449698328971863},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39262494444847107},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11981353163719177},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09361082315444946}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7847017645835876},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6099904775619507},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5988756418228149},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5820895433425903},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.576880693435669},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.5321067571640015},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4998290538787842},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4834080934524536},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.4449698328971863},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39262494444847107},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11981353163719177},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09361082315444946},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio49542.2019.8961669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961669","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/106402","is_oa":true,"landing_page_url":"http://hdl.handle.net/10397/106402","pdf_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/106402/1/Lai_Learning-Based_Inverse_Kinematics.pdf","source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"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":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/106402","is_oa":true,"landing_page_url":"http://hdl.handle.net/10397/106402","pdf_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/106402/1/Lai_Learning-Based_Inverse_Kinematics.pdf","source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"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":"Conference Paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3002170672.pdf","grobid_xml":"https://content.openalex.org/works/W3002170672.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1569512666","https://openalex.org/W1629496526","https://openalex.org/W1891615552","https://openalex.org/W2053957473","https://openalex.org/W2058397971","https://openalex.org/W2063507564","https://openalex.org/W2063797945","https://openalex.org/W2073677587","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2103496339","https://openalex.org/W2114877768","https://openalex.org/W2119531408","https://openalex.org/W2124540383","https://openalex.org/W2139980347","https://openalex.org/W2147492425","https://openalex.org/W2163598528","https://openalex.org/W2295877882","https://openalex.org/W2621077460","https://openalex.org/W2740405518","https://openalex.org/W2792744836","https://openalex.org/W2816488237","https://openalex.org/W2910440184","https://openalex.org/W6636507849","https://openalex.org/W6684327724"],"related_works":["https://openalex.org/W2972304526","https://openalex.org/W2375415610","https://openalex.org/W2119719871","https://openalex.org/W2811382984","https://openalex.org/W1971821535","https://openalex.org/W4283266117","https://openalex.org/W2357499095","https://openalex.org/W2119963650","https://openalex.org/W2380210784","https://openalex.org/W3129004068"],"abstract_inverted_index":{"Inverse":[0],"kinematics":[1,18],"(IK)":[2],"is":[3,41,100,131],"one":[4],"of":[5,16,35,51,86,121,150,174],"the":[6,17,22,33,39,72,114,136,143,155,171],"most":[7],"fundamental":[8],"problems":[9],"in":[10,187],"robotics,":[11],"as":[12],"it":[13],"makes":[14],"use":[15],"equations":[19],"to":[20,26,45,60,97,134,169],"determine":[21],"joint":[23,95],"configurations":[24],"necessary":[25],"reach":[27],"a":[28,57,62,80,84,117,124,146,166,175],"desired":[29],"end-effector":[30,140],"pose.":[31],"In":[32],"field":[34],"continuum":[36,64,126,177],"robot,":[37,178],"solving":[38],"IK":[40,75,172],"relatively":[42],"challenging,":[43],"owing":[44],"kinematic":[46],"redundancy":[47],"with":[48],"infinite":[49],"number":[50],"solutions.In":[52],"this":[53,159],"paper,":[54],"we":[55],"present":[56],"simplified":[58,160],"model":[59,161],"represent":[61],"multi-segment":[63,188],"robot":[65,156],"using":[66,79,102],"virtual":[67,94],"rigid":[68],"links.":[69],"Based":[70],"on":[71,154],"model,":[73],"its":[74,163],"can":[76,152,180],"be":[77,153,182],"solved":[78],"multilayer":[81],"perceptron":[82],"(MLP),":[83],"class":[85],"feedforward":[87],"neural":[88],"network":[89],"(FNN).":[90],"The":[91,128],"transformation":[92],"between":[93],"space":[96,99],"task":[98],"described":[101],"Denavit-Hartenberg":[103],"(D-H)":[104],"convention.":[105],"Using":[106],"20,000":[107],"established":[108],"training":[109],"data":[110],"for":[111,123,138],"supervised":[112],"learning,":[113],"MLP":[115,130,164],"reaches":[116],"mean":[118,147],"squared":[119],"error":[120,149],"0.022":[122],"dual-segment":[125],"robot.":[127],"trained":[129],"then":[132],"used":[133],"find":[135],"joints":[137],"different":[139],"positions,":[141],"and":[142,162,185],"results":[144],"show":[145],"relative":[148],"2.90%":[151],"configuration.":[157],"Hence,":[158],"provide":[165],"simple":[167],"method":[168],"evaluate":[170],"solution":[173],"two-segment":[176],"which":[179],"also":[181],"further":[183],"generalized":[184],"implemented":[186],"cases.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}