{"id":"https://openalex.org/W4408914035","doi":"https://doi.org/10.1109/tcst.2025.3550030","title":"Fishing for Data: Modeling, Optimal Planning, and Iterative Learning Control for Flexible Link Robots","display_name":"Fishing for Data: Modeling, Optimal Planning, and Iterative Learning Control for Flexible Link Robots","publication_year":2025,"publication_date":"2025-03-26","ids":{"openalex":"https://openalex.org/W4408914035","doi":"https://doi.org/10.1109/tcst.2025.3550030"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2025.3550030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3550030","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ieeexplore.ieee.org/abstract/document/10938787","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064305562","display_name":"Michele Pierallini","orcid":"https://orcid.org/0000-0003-0547-2747"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Michele Pierallini","raw_affiliation_strings":["Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","Centro di Ricerca “En-ri-co Pi-ag-gio” and the Dipartimento di Ingegneria dell’Informazione, U-ni-ver-si-tà di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0547-2747","affiliations":[{"raw_affiliation_string":"Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca “En-ri-co Pi-ag-gio” and the Dipartimento di Ingegneria dell’Informazione, U-ni-ver-si-tà di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097927817","display_name":"Ramesh Krishnan Muttathil Gopanunni","orcid":"https://orcid.org/0000-0002-9191-6940"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ramesh Krishnan Muttathil Gopanunni","raw_affiliation_strings":["Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","Centro di Ricerca “En-ri-co Pi-ag-gio” and the Dipartimento di Ingegneria dell’Informazione, U-ni-ver-si-tà di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9191-6940","affiliations":[{"raw_affiliation_string":"Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca “En-ri-co Pi-ag-gio” and the Dipartimento di Ingegneria dell’Informazione, U-ni-ver-si-tà di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047597226","display_name":"Franco Angelini","orcid":"https://orcid.org/0000-0003-2559-9569"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Franco Angelini","raw_affiliation_strings":["Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","Centro di Ricerca “En-ri-co Pi-ag-gio” and the Dipartimento di Ingegneria dell’Informazione, U-ni-ver-si-tà di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2559-9569","affiliations":[{"raw_affiliation_string":"Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca “En-ri-co Pi-ag-gio” and the Dipartimento di Ingegneria dell’Informazione, U-ni-ver-si-tà di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8635-5571","affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042460018","display_name":"Manolo Garabini","orcid":"https://orcid.org/0000-0002-5873-3173"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manolo Garabini","raw_affiliation_strings":["Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","Centro di Ricerca “En-ri-co Pi-ag-gio” and the Dipartimento di Ingegneria dell’Informazione, U-ni-ver-si-tà di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5873-3173","affiliations":[{"raw_affiliation_string":"Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca “En-ri-co Pi-ag-gio” and the Dipartimento di Ingegneria dell’Informazione, U-ni-ver-si-tà di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5558,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81347549,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"33","issue":"5","first_page":"1667","last_page":"1683"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9959999918937683,"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"}},"topics":[{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9959999918937683,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9904000163078308,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9695000052452087,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.8038764595985413},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.7801154851913452},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6265749931335449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5451317429542542},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5078504681587219},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31263577938079834},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11107459664344788}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8038764595985413},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.7801154851913452},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6265749931335449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5451317429542542},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5078504681587219},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31263577938079834},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11107459664344788}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2025.3550030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3550030","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1307429","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/abstract/document/10938787","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/1307429","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/abstract/document/10938787","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1964946446","https://openalex.org/W1972162004","https://openalex.org/W2041242313","https://openalex.org/W2069569562","https://openalex.org/W2113098104","https://openalex.org/W2152538750","https://openalex.org/W2329967419","https://openalex.org/W2591039497","https://openalex.org/W2843252114","https://openalex.org/W2870735678","https://openalex.org/W2896037465","https://openalex.org/W2897782084","https://openalex.org/W2912560139","https://openalex.org/W2963092423","https://openalex.org/W2977911927","https://openalex.org/W2993799976","https://openalex.org/W2997524155","https://openalex.org/W3004162504","https://openalex.org/W3012402823","https://openalex.org/W3015303069","https://openalex.org/W3022163685","https://openalex.org/W3045059767","https://openalex.org/W3081791272","https://openalex.org/W3090875899","https://openalex.org/W3092627351","https://openalex.org/W3133933269","https://openalex.org/W3158338937","https://openalex.org/W3179609542","https://openalex.org/W3183366645","https://openalex.org/W3204719635","https://openalex.org/W3211059337","https://openalex.org/W3212742832","https://openalex.org/W4200218049","https://openalex.org/W4200306000","https://openalex.org/W4210646885","https://openalex.org/W4214644029","https://openalex.org/W4246603712","https://openalex.org/W4286907197","https://openalex.org/W4295898027","https://openalex.org/W4296966920","https://openalex.org/W4301610415","https://openalex.org/W4306811580","https://openalex.org/W4312470006","https://openalex.org/W4312687007","https://openalex.org/W4313639260","https://openalex.org/W4317796297","https://openalex.org/W4367623898","https://openalex.org/W4383108277","https://openalex.org/W4383899472","https://openalex.org/W4384157267","https://openalex.org/W4384161686","https://openalex.org/W4386038399","https://openalex.org/W4386330505","https://openalex.org/W4386837072","https://openalex.org/W4387197008","https://openalex.org/W4396852912","https://openalex.org/W6687534646","https://openalex.org/W6852481959","https://openalex.org/W6854690816"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2362086884","https://openalex.org/W1606071314","https://openalex.org/W2350210972","https://openalex.org/W2369126164","https://openalex.org/W1482785882","https://openalex.org/W2376218423"],"abstract_inverted_index":{"In":[0],"this":[1,63],"work,":[2],"we":[3,66],"address":[4],"the":[5,47,52,58,89,111,144],"problem":[6],"of":[7,13,45],"precise":[8,121],"motion":[9,91,151],"planning":[10,40],"and":[11,24,41,55,100,135,140],"control":[12,42,106],"flexible-link":[14,98,125],"robots":[15,28],"for":[16,57,72,97,156],"throwing":[17,122,150],"small":[18],"objects.":[19],"Thanks":[20],"to":[21,109,119,147],"lightweight":[22],"materials":[23],"elastic":[25],"bodies,":[26],"flexible":[27],"can":[29],"perform":[30],"fast":[31],"motions":[32],"with":[33,51,124,137,152],"few":[34],"actuators.":[35],"However,":[36],"they":[37],"need":[38],"a":[39,79,93,149,153],"strategy":[43,95],"capable":[44],"exploiting":[46],"robot\u2019s":[48],"elasticity,":[49],"negotiating":[50],"system\u2019s":[53],"underactuation,":[54],"compensating":[56],"model\u2019s":[59],"uncertainties.":[60],"To":[61],"solve":[62],"challenging":[64],"task,":[65],"1)":[67],"compare":[68],"multiple":[69],"discrete":[70],"models":[71],"continuum":[73],"robots\u2019":[74],"dynamics":[75],"and,":[76],"after":[77],"selecting":[78],"lumped-parameter":[80],"(LPs)":[81],"model,":[82],"experimentally":[83],"identify":[84],"its":[85],"parameters;":[86],"2)":[87],"plan":[88],"robot":[90],"via":[92,133],"differential-dynamic-programming-based":[94],"tailored":[96],"robots;":[99],"3)":[101],"employ":[102],"an":[103],"iterative":[104],"learning":[105],"(ILC)":[107],"approach":[108,146],"close":[110],"reality-gap.":[112],"Combining":[113],"these":[114],"three":[115],"steps":[116],"allows":[117],"us":[118],"execute":[120],"tasks":[123],"robots.":[126],"The":[127],"strategy\u2019s":[128],"effectiveness":[129],"has":[130],"been":[131],"validated":[132],"simulations":[134],"experiments":[136],"varying":[138],"trajectories":[139],"payloads.":[141],"We":[142],"applied":[143],"aforementioned":[145],"realize":[148],"fishing":[154],"rod":[155],"environmental":[157],"monitoring.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}