{"id":"https://openalex.org/W4206564404","doi":"https://doi.org/10.1109/tcds.2021.3136854","title":"Motion Learning and Rapid Generalization for Musculoskeletal Systems Based on Recurrent Neural Network Modulated by Initial States","display_name":"Motion Learning and Rapid Generalization for Musculoskeletal Systems Based on Recurrent Neural Network Modulated by Initial States","publication_year":2021,"publication_date":"2021-12-21","ids":{"openalex":"https://openalex.org/W4206564404","doi":"https://doi.org/10.1109/tcds.2021.3136854"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2021.3136854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2021.3136854","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","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/A5074628946","display_name":"Xiaona Wang","orcid":"https://orcid.org/0000-0001-8710-1688"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaona Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems and Beijing Key Laboratory of Research and Application for Robotic Intelligence of &#x201C;Hand-Eye-Brain&#x201D; Interaction, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems and Beijing Key Laboratory of Research and Application for Robotic Intelligence of &#x201C;Hand-Eye-Brain&#x201D; Interaction, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081627187","display_name":"Jiahao Chen","orcid":"https://orcid.org/0000-0003-0044-8887"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Chen","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems and Beijing Key Laboratory of Research and Application for Robotic Intelligence of &#x201C;Hand-Eye-Brain&#x201D; Interaction, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0044-8887","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems and Beijing Key Laboratory of Research and Application for Robotic Intelligence of &#x201C;Hand-Eye-Brain&#x201D; Interaction, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026688050","display_name":"Hong Qiao","orcid":"https://orcid.org/0000-0001-6384-3687"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Qiao","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems and Beijing Key Laboratory of Research and Application for Robotic Intelligence of &#x201C;Hand-Eye-Brain&#x201D; Interaction, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6384-3687","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems and Beijing Key Laboratory of Research and Application for Robotic Intelligence of &#x201C;Hand-Eye-Brain&#x201D; Interaction, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9434,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.70978076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"14","issue":"4","first_page":"1691","last_page":"1704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9995999932289124,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9995999932289124,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9987000226974487,"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":0.9948999881744385,"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/computer-science","display_name":"Computer science","score":0.772739052772522},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.7413440346717834},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6646021604537964},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5872227549552917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5384526252746582},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.515753984451294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48761215806007385},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4608464241027832},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3298912048339844}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.772739052772522},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.7413440346717834},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6646021604537964},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5872227549552917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5384526252746582},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.515753984451294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48761215806007385},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4608464241027832},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3298912048339844},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2021.3136854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2021.3136854","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3214453966","display_name":null,"funder_award_id":"61627808","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G471587438","display_name":null,"funder_award_id":"XDB32050100","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G5826505512","display_name":null,"funder_award_id":"2017YFB1300203","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6130823433","display_name":null,"funder_award_id":"91648205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8936065553","display_name":null,"funder_award_id":"91948303","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1779938893","https://openalex.org/W1969816573","https://openalex.org/W1972837991","https://openalex.org/W1974803102","https://openalex.org/W1979826626","https://openalex.org/W1983573550","https://openalex.org/W1993841629","https://openalex.org/W2000186054","https://openalex.org/W2029053566","https://openalex.org/W2030092661","https://openalex.org/W2031474781","https://openalex.org/W2040499723","https://openalex.org/W2041176801","https://openalex.org/W2067690526","https://openalex.org/W2070510586","https://openalex.org/W2075861930","https://openalex.org/W2097263684","https://openalex.org/W2101677491","https://openalex.org/W2103756351","https://openalex.org/W2112595261","https://openalex.org/W2116740732","https://openalex.org/W2117268954","https://openalex.org/W2119796324","https://openalex.org/W2135993484","https://openalex.org/W2141943257","https://openalex.org/W2151906934","https://openalex.org/W2164535356","https://openalex.org/W2165150869","https://openalex.org/W2519125098","https://openalex.org/W2543770555","https://openalex.org/W2569517946","https://openalex.org/W2725150524","https://openalex.org/W2777101122","https://openalex.org/W2787262037","https://openalex.org/W2791542133","https://openalex.org/W2795776994","https://openalex.org/W2883972132","https://openalex.org/W2891765131","https://openalex.org/W2902365870","https://openalex.org/W2908457428","https://openalex.org/W2911276762","https://openalex.org/W2953293408","https://openalex.org/W2961252812","https://openalex.org/W2972324216","https://openalex.org/W2972778642","https://openalex.org/W2983424251","https://openalex.org/W2995822731","https://openalex.org/W3003820461","https://openalex.org/W3008806548","https://openalex.org/W3017424189","https://openalex.org/W3094210481","https://openalex.org/W3125795670","https://openalex.org/W3137335329","https://openalex.org/W3144044361","https://openalex.org/W3157610864","https://openalex.org/W3162722130","https://openalex.org/W4324106947","https://openalex.org/W6702989015","https://openalex.org/W6756652911","https://openalex.org/W6794539891"],"related_works":["https://openalex.org/W4225394202","https://openalex.org/W4298287631","https://openalex.org/W2953061907","https://openalex.org/W3032952384","https://openalex.org/W3034302643","https://openalex.org/W1847088711","https://openalex.org/W3036642985","https://openalex.org/W2964335273","https://openalex.org/W1889624880","https://openalex.org/W2229372569"],"abstract_inverted_index":{"Musculoskeletal":[0],"robot":[1],"with":[2,145,199,220],"high":[3,221],"precision":[4,222],"and":[5,20,68,80,97,123,183,223],"robustness":[6],"is":[7,90,101,133,160,195],"a":[8,44,65,93,152,200],"promising":[9],"direction":[10],"for":[11,156,172,229],"the":[12,33,38,50,77,98,104,121,130,138,141,146,188,207,217,226],"next":[13],"generation":[14],"of":[15,23,37,76,84,106,117,125,140,148,164,216],"robots.":[16],"However,":[17],"motion":[18,45,131,209],"learning":[19,46,95,132,210],"rapid":[21,153],"generalization":[22,154,227],"complex":[24],"musculoskeletal":[25,201,218],"systems":[26],"are":[27,62],"still":[28],"challenging.":[29],"Therefore,":[30],"inspired":[31],"by":[32,56,92,170,179],"movement":[34,158],"preparation":[35,66,88,122],"mechanism":[36],"motor":[39,82],"cortex,":[40],"this":[41],"article":[42],"proposes":[43],"framework":[47,194,211],"based":[48],"on":[49],"recurrent":[51],"neural":[52,190],"network":[53,67,71,79,89,100],"(RNN)":[54],"modulated":[55],"initial":[57,74,107,109,150,181],"states.":[58],"First,":[59],"two":[60,128],"RNNs":[61],"introduced":[63],"as":[64,115],"an":[69],"execution":[70,78,99,124],"to":[72,135],"generate":[73],"states":[75,110,163,182],"time-varying":[81],"commands":[83],"movement,":[85],"respectively.":[86],"The":[87,192,203],"trained":[91],"reward-modulated":[94],"rule,":[96],"fixed.":[102],"With":[103],"modulation":[105],"states,":[108,151],"can":[111,167,212],"be":[112,168],"explicitly":[113],"expressed":[114],"knowledge":[116],"movements.":[118,231],"By":[119],"dividing":[120],"movements":[126,166,215],"into":[127,187],"RNNs,":[129],"accelerated":[134],"converge":[136],"under":[137],"application":[139],"node-perturbation":[142],"method.":[143],"Second,":[144],"utilization":[147],"learned":[149,180],"method":[155],"new":[157,230],"targets":[159],"proposed.":[161],"Initial":[162],"unlearned":[165],"computed":[169],"searching":[171],"low-dimensional":[173],"ones":[174],"in":[175,197],"latent":[176],"space":[177],"constructed":[178],"then":[184],"transforming":[185],"them":[186],"whole":[189],"space.":[191],"proposed":[193,208],"verified":[196],"simulation":[198],"model.":[202],"results":[204],"indicate":[205],"that":[206],"realize":[213],"goal-oriented":[214],"system":[219],"significantly":[224],"improve":[225],"efficiency":[228]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
