{"id":"https://openalex.org/W4399729055","doi":"https://doi.org/10.1109/syscon61195.2024.10553408","title":"Reinforcement Learning Integrated Active Force Control for Five-link Biped Robots","display_name":"Reinforcement Learning Integrated Active Force Control for Five-link Biped Robots","publication_year":2024,"publication_date":"2024-04-15","ids":{"openalex":"https://openalex.org/W4399729055","doi":"https://doi.org/10.1109/syscon61195.2024.10553408"},"language":"en","primary_location":{"id":"doi:10.1109/syscon61195.2024.10553408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon61195.2024.10553408","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Systems Conference (SysCon)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Reinforcement_Learning_Integrated_Active_Force_Control_for_Five-link_Biped_Robots/26089708","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102689583","display_name":"Hanyi Huang","orcid":"https://orcid.org/0009-0002-2128-0446"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hanyi Huang","raw_affiliation_strings":["Deakin University,Institute for Intelligent Systems Research and Innovation,Waurn Ponds,Australia","Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deakin University,Institute for Intelligent Systems Research and Innovation,Waurn Ponds,Australia","institution_ids":["https://openalex.org/I149704539"]},{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019889615","display_name":"Adetokunbo Arogbonlo","orcid":"https://orcid.org/0000-0002-4524-8267"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Adetokunbo Arogbonlo","raw_affiliation_strings":["Deakin University,Institute for Intelligent Systems Research and Innovation,Waurn Ponds,Australia","Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deakin University,Institute for Intelligent Systems Research and Innovation,Waurn Ponds,Australia","institution_ids":["https://openalex.org/I149704539"]},{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113017035","display_name":"Samson S. Yu","orcid":"https://orcid.org/0000-0002-2983-7344"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Samson Yu","raw_affiliation_strings":["Deakin University,School of Engineering,Waurn Ponds,Australia","School of Engineering, Deakin University, Waurn Ponds, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deakin University,School of Engineering,Waurn Ponds,Australia","institution_ids":["https://openalex.org/I149704539"]},{"raw_affiliation_string":"School of Engineering, Deakin University, Waurn Ponds, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084215658","display_name":"Lee Chung Kwek","orcid":"https://orcid.org/0000-0003-1242-5084"},"institutions":[{"id":"https://openalex.org/I173029219","display_name":"Multimedia University","ror":"https://ror.org/04zrbnc33","country_code":"MY","type":"education","lineage":["https://openalex.org/I173029219"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Lee Chung Kwek","raw_affiliation_strings":["Multimedia University,Faculty of Engineering and Technology,Melaka,Malaysia","Faculty of Engineering and Technology, Multimedia University, Melaka, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Multimedia University,Faculty of Engineering and Technology,Melaka,Malaysia","institution_ids":["https://openalex.org/I173029219"]},{"raw_affiliation_string":"Faculty of Engineering and Technology, Multimedia University, Melaka, Malaysia","institution_ids":["https://openalex.org/I173029219"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10879","display_name":"Robotic Locomotion and Control","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.988099992275238,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9811000227928162,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.837544858455658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.660629391670227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6447936296463013},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.6341572999954224},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.4642883539199829},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31960606575012207},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21699687838554382},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10114037990570068},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06427150964736938}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.837544858455658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.660629391670227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6447936296463013},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.6341572999954224},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4642883539199829},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31960606575012207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21699687838554382},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10114037990570068},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06427150964736938}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/syscon61195.2024.10553408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon61195.2024.10553408","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Systems Conference (SysCon)","raw_type":"proceedings-article"},{"id":"pmh:oai:shdl.mmu.edu.my:12729","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196753","display_name":"Siti Hasmah Digital Library-MMU Institutiona Repository (Multimedia University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173029219","host_organization_name":"Multimedia University","host_organization_lineage":["https://openalex.org/I173029219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:figshare.com:article/26089708","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Reinforcement_Learning_Integrated_Active_Force_Control_for_Five-link_Biped_Robots/26089708","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/26089708","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Reinforcement_Learning_Integrated_Active_Force_Control_for_Five-link_Biped_Robots/26089708","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W97064597","https://openalex.org/W2012692089","https://openalex.org/W2021577290","https://openalex.org/W2036224037","https://openalex.org/W2044666694","https://openalex.org/W2065426504","https://openalex.org/W2119578126","https://openalex.org/W2121863487","https://openalex.org/W2132658035","https://openalex.org/W2135493101","https://openalex.org/W2625391619","https://openalex.org/W2808017536","https://openalex.org/W2897661175","https://openalex.org/W2906204569","https://openalex.org/W2907468594","https://openalex.org/W2916475163","https://openalex.org/W2953972036","https://openalex.org/W2973229164","https://openalex.org/W3016514109","https://openalex.org/W3047827897","https://openalex.org/W3096654951","https://openalex.org/W3113514849","https://openalex.org/W3117903636","https://openalex.org/W3152894225","https://openalex.org/W3156380917","https://openalex.org/W3175131573","https://openalex.org/W4206391787","https://openalex.org/W4214880065","https://openalex.org/W4226240934","https://openalex.org/W4243385754","https://openalex.org/W4311188567","https://openalex.org/W4327511158","https://openalex.org/W4383822101","https://openalex.org/W4384833524","https://openalex.org/W6788210580"],"related_works":["https://openalex.org/W2920061524","https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1987513656"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,146],"present":[4],"a":[5,47,86,148],"novel":[6],"control":[7,17],"model":[8,152,221],"that":[9],"combines":[10],"reinforcement":[11],"learning":[12,176],"(RL)":[13],"and":[14,37,58,100,155,161,225],"active":[15],"force":[16],"(AFC)":[18],"for":[19,139,222],"the":[20,33,38,51,64,81,101,114,128,140,180,198,215,218],"trajectory":[21,43,56,137,223],"tracking":[22,57,78,138,193,224],"of":[23,35,40,67,117,191,200,217],"biped":[24,49,82,141,150,230],"robots.":[25,231],"The":[26,211],"AFC-RL":[27,129,165,185,204,220],"controller":[28,52,166],"is":[29,74,167],"crafted":[30],"to":[31,54,112,134],"harness":[32],"robustness":[34],"RL":[36,72,111],"simplicity":[39],"AFC":[41,68,118,172],"in":[42,69,153,189,197,209,228],"tracking.":[44],"Implemented":[45],"on":[46,98,103],"5-link":[48],"robot,":[50],"aims":[53],"enhance":[55],"disturbance":[59,226],"rejection":[60,227],"capabilities.":[61],"To":[62],"estimate":[63,113],"inertia":[65,115,125],"matrix":[66,116,126],"real-time,":[70],"an":[71,123,170,174],"module":[73],"trained":[75],"using":[76],"feedback":[77],"errors":[79],"from":[80,179],"robot.":[83,142],"We":[84],"employ":[85],"deep":[87],"deterministic":[88],"policy":[89],"gradient":[90],"algorithm":[91],"coupled":[92],"with":[93,158,169],"two":[94],"reward":[95,107],"schemes\u2014one":[96],"based":[97],"duration":[99],"other":[102],"trajectory-following":[104],"accuracy.":[105],"These":[106],"schemes":[108],"synergistically":[109],"enable":[110],"while":[119],"minimizing":[120],"errors.":[121],"With":[122],"accurate":[124],"estimation,":[127],"output":[130],"torques":[131],"are":[132],"controlled":[133],"achieve":[135],"precise":[136],"For":[143],"performance":[144],"evaluation,":[145],"developed":[147],"five-link":[149],"robot":[151],"MATLAB/Simulink":[154],"conducted":[156],"simulations":[157],"various":[159],"routes":[160],"external":[162],"disturbances.":[163],"Our":[164],"compared":[168],"existing":[171],"employing":[173],"iterative":[175],"(IL)":[177],"scheme":[178],"literature.":[181],"Across":[182],"all":[183],"scenarios,":[184],"consistently":[186],"outperforms":[187],"AFC-IL":[188,206],"terms":[190],"average":[192],"error":[194],"(ATE).":[195],"Notably,":[196],"case":[199],"varying":[201],"sinusoid":[202],"disturbances,":[203],"surpasses":[205],"by":[207],"2.25%":[208],"ATE.":[210],"evaluation":[212],"results":[213],"affirm":[214],"effectiveness":[216],"proposed":[219],"controlling":[229]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
