{"id":"https://openalex.org/W7134839075","doi":"https://doi.org/10.1109/tase.2026.3672148","title":"BioSynGrasp: Bio-Inspired Structured Reinforcement Learning With Synergetic Exploration and Human Demonstration for Dexterous Grasping of Musculoskeletal Robot","display_name":"BioSynGrasp: Bio-Inspired Structured Reinforcement Learning With Synergetic Exploration and Human Demonstration for Dexterous Grasping of Musculoskeletal Robot","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7134839075","doi":"https://doi.org/10.1109/tase.2026.3672148"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3672148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3672148","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-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/A5128686020","display_name":"Siyuan Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Siyuan Liu","raw_affiliation_strings":["Chinese Academy of Sciences, State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128659442","display_name":"Bo Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Jiang","raw_affiliation_strings":["Chinese Academy of Sciences, State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128646850","display_name":"Lijun Han","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Han","raw_affiliation_strings":["Chinese Academy of Sciences, State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103157824","display_name":"Sheng Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanlin Zhong","raw_affiliation_strings":["Chinese Academy of Sciences, State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100727994","display_name":"Chen Song","orcid":"https://orcid.org/0000-0001-9730-3216"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ci Song","raw_affiliation_strings":["College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128657504","display_name":"Huaping Liu","orcid":null},"institutions":[{"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":"Huaping Liu","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5128651901","display_name":"Jiahao Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Chen","raw_affiliation_strings":["Chinese Academy of Sciences, State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I4210100255"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5128686020"],"corresponding_institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I4210100255"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.803261,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"6102","last_page":"6116"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.49219998717308044,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.49219998717308044,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.28110000491142273,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.15960000455379486,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.682699978351593},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6815000176429749},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6078000068664551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5799999833106995},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4814999997615814},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.38339999318122864},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.37549999356269836},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.3752000033855438},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.36980000138282776}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.682699978351593},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6815000176429749},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6078000068664551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5799999833106995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.573199987411499},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5069000124931335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4968999922275543},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4814999997615814},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41940000653266907},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.38339999318122864},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37549999356269836},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.3752000033855438},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.36980000138282776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36559998989105225},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3540000021457672},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.3465999960899353},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3391000032424927},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.32089999318122864},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.32019999623298645},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3133000135421753},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.31310001015663147},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.3091999888420105},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2939000129699707},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.28859999775886536},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2849999964237213},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2797999978065491}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3672148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3672148","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8761619925498962,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W2014014888","https://openalex.org/W2022424636","https://openalex.org/W2044890387","https://openalex.org/W2056352738","https://openalex.org/W2087905492","https://openalex.org/W2097799357","https://openalex.org/W2108880624","https://openalex.org/W2151906934","https://openalex.org/W2777101122","https://openalex.org/W2789839425","https://openalex.org/W2810695956","https://openalex.org/W2922057017","https://openalex.org/W2951134665","https://openalex.org/W3001803449","https://openalex.org/W3006595702","https://openalex.org/W3125795670","https://openalex.org/W3209025803","https://openalex.org/W4285102652","https://openalex.org/W4291951914","https://openalex.org/W4307475434","https://openalex.org/W4312463286","https://openalex.org/W4322728017","https://openalex.org/W4324116526","https://openalex.org/W4366452046","https://openalex.org/W4381730698","https://openalex.org/W4383108784","https://openalex.org/W4383217607","https://openalex.org/W4387385760","https://openalex.org/W4387449014","https://openalex.org/W4389622896","https://openalex.org/W4392207592","https://openalex.org/W4393139851","https://openalex.org/W4394863125","https://openalex.org/W4398787712","https://openalex.org/W4399563306","https://openalex.org/W4402354112","https://openalex.org/W4402372172","https://openalex.org/W4402952516","https://openalex.org/W4403277644","https://openalex.org/W4403675188","https://openalex.org/W4405785298","https://openalex.org/W4406208404","https://openalex.org/W4407394565","https://openalex.org/W4409642082","https://openalex.org/W4409882614","https://openalex.org/W4410153046","https://openalex.org/W4410294565","https://openalex.org/W4413145126","https://openalex.org/W4416749095","https://openalex.org/W4416798226","https://openalex.org/W7133196323"],"related_works":[],"abstract_inverted_index":{"Musculoskeletal":[0],"robots":[1],"with":[2,80,101,120,131,155,184],"anthropomorphic":[3],"structures":[4],"show":[5],"great":[6],"potential":[7],"for":[8,115,197],"human-like":[9,188],"dexterous":[10,140,189],"manipulation.":[11,25],"However,":[12],"their":[13],"high-dimensional,":[14],"coupled":[15],"and":[16,24,77,83,97,118,135,152,172,191],"nonlinear":[17],"dynamics":[18],"pose":[19],"significant":[20],"challenges":[21],"to":[22,34],"control":[23,183],"Despite":[26],"recent":[27],"advances,":[28],"most":[29],"existing":[30],"methods":[31,164],"still":[32],"struggle":[33],"achieve":[35],"flexible":[36],"multi-object":[37,150],"manipulation":[38,190],"without":[39],"long-sequence":[40],"expert":[41,49],"demonstrations":[42],"or":[43],"manual":[44],"parameter":[45],"tuning":[46],"based":[47],"on":[48,126,136],"knowledge.":[50],"To":[51],"tackle":[52],"these":[53],"limitations,":[54],"a":[55,127,137],"bio-inspired":[56,181],"reinforcement":[57],"learning":[58],"framework":[59],"named":[60],"BioSynGrasp":[61,123],"is":[62,124],"proposed.":[63],"It":[64],"comprises":[65],"three":[66],"core":[67],"components:":[68],"1)":[69],"A":[70,88],"neuromuscular":[71],"controller":[72],"that":[73,145,179],"integrates":[74],"shared":[75],"perception":[76],"planning":[78],"modules":[79],"distinct":[81],"arm":[82,98],"hand":[84,96,141,185],"synergies":[85,100],"sub-networks;":[86],"2)":[87],"proximal":[89],"policy":[90],"optimization-based":[91],"exploration":[92],"strategy":[93],"driven":[94],"by":[95],"muscle":[99],"correlated":[102],"actuator":[103,174],"perturbations;":[104],"3)":[105],"Hand":[106],"preshapes":[107,186],"measured":[108],"via":[109],"motion":[110],"capture":[111],"provide":[112],"efficient":[113],"initialization":[114],"functional":[116],"grasping":[117,151],"reaching":[119,153],"minimal":[121],"data.":[122],"validated":[125],"simulated":[128],"musculoskeletal":[129],"robot":[130],"63":[132],"actuated":[133],"muscles":[134],"hardware":[138],"articulated":[139],"system.":[142],"Results":[143],"demonstrate":[144],"it":[146],"successfully":[147],"completes":[148],"28":[149],"tasks":[154],"an":[156],"average":[157],"success":[158,166],"rate":[159],"of":[160],"85.9%,":[161],"outperforming":[162],"baseline":[163],"in":[165],"rate,":[167],"energy":[168],"efficiency,":[169],"position":[170],"error,":[171],"redundant":[173],"recruitment.":[175],"These":[176],"results":[177],"highlight":[178],"integrating":[180],"motor":[182],"enhances":[187],"provides":[192],"insights":[193],"into":[194],"human":[195],"neuromechanics":[196],"more":[198],"adaptable":[199],"robotic":[200],"systems.":[201]},"counts_by_year":[],"updated_date":"2026-03-20T20:47:17.329874","created_date":"2026-03-11T00:00:00"}
