{"id":"https://openalex.org/W4379116633","doi":"https://doi.org/10.1109/tim.2023.3282297","title":"Residual Reinforcement Learning for Motion Control of a Bionic Exploration Robot\u2014RoboDact","display_name":"Residual Reinforcement Learning for Motion Control of a Bionic Exploration Robot\u2014RoboDact","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4379116633","doi":"https://doi.org/10.1109/tim.2023.3282297"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3282297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3282297","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5046792932","display_name":"Tiandong Zhang","orcid":"https://orcid.org/0000-0003-4454-8169"},"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"]},{"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"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiandong Zhang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4454-8169","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100431397","display_name":"Rui Wang","orcid":"https://orcid.org/0000-0003-3172-3167"},"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"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Wang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3172-3167","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100639215","display_name":"Shuo Wang","orcid":"https://orcid.org/0000-0002-1390-9219"},"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"]},{"id":"https://openalex.org/I4210097554","display_name":"Center for Excellence in Brain Science and Intelligence Technology","ror":"https://ror.org/00vpwhm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210097554"]},{"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"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Wang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Shanghai, China","Institute of Automation, State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1390-9219","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210097554","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100445361","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0003-3049-004X"},"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"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3049-004X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038119641","display_name":"Gang Zheng","orcid":"https://orcid.org/0000-0002-5671-7700"},"institutions":[{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I4387153239","display_name":"Centre de Recherche en Informatique, Signal et Automatique de Lille","ror":"https://ror.org/05vrs3189","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I4387153239","https://openalex.org/I7454413"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Gang Zheng","raw_affiliation_strings":["Centrale Lille, CRIStAL-Centre de Recherche en Informatique Signal et Automatique de Lille, University of Lille, Lille, France","Inria Lille - Nord Europe, and CRIStAL - center de Recherche en Informatique Signal et Automatique de Lille, Villeneuved'Ascq, France"],"raw_orcid":"https://orcid.org/0000-0002-5671-7700","affiliations":[{"raw_affiliation_string":"Centrale Lille, CRIStAL-Centre de Recherche en Informatique Signal et Automatique de Lille, University of Lille, Lille, France","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I2279609970","https://openalex.org/I7454413"]},{"raw_affiliation_string":"Inria Lille - Nord Europe, and CRIStAL - center de Recherche en Informatique Signal et Automatique de Lille, Villeneuved'Ascq, France","institution_ids":["https://openalex.org/I4387153239","https://openalex.org/I4210115519"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024708104","display_name":"Min Tan","orcid":"https://orcid.org/0000-0002-1986-8438"},"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"]},{"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"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Tan","raw_affiliation_strings":["Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1986-8438","affiliations":[{"raw_affiliation_string":"Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4975,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.92363485,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/control-theory","display_name":"Control theory (sociology)","score":0.7103204727172852},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6499642729759216},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5912100672721863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5466480851173401},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5392784476280212},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.5340843200683594},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5072052478790283},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47931209206581116},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.47684919834136963},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.459879994392395},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4502961337566376},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.445633202791214},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4309755563735962},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40435999631881714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3284088969230652},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1290965974330902}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7103204727172852},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6499642729759216},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5912100672721863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5466480851173401},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5392784476280212},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.5340843200683594},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5072052478790283},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47931209206581116},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.47684919834136963},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.459879994392395},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4502961337566376},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.445633202791214},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4309755563735962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40435999631881714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3284088969230652},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1290965974330902},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3282297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3282297","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7900000214576721}],"awards":[{"id":"https://openalex.org/G1563129299","display_name":null,"funder_award_id":"62122087","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G292298420","display_name":null,"funder_award_id":"4222056","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G4653236334","display_name":null,"funder_award_id":"4222055","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G6884401265","display_name":null,"funder_award_id":"62276253","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7255016761","display_name":null,"funder_award_id":"62203435","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7522097228","display_name":null,"funder_award_id":"KZ202210017024","funder_id":"https://openalex.org/F4320321572","funder_display_name":"Beijing Municipal Commission of Education"},{"id":"https://openalex.org/G990984470","display_name":null,"funder_award_id":"2020137","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"}],"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/F4320321572","display_name":"Beijing Municipal Commission of Education","ror":"https://ror.org/04bpn6s66"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1971356227","https://openalex.org/W1973721220","https://openalex.org/W2046127725","https://openalex.org/W2048963734","https://openalex.org/W2061253966","https://openalex.org/W2094460003","https://openalex.org/W2097696157","https://openalex.org/W2117289015","https://openalex.org/W2120372777","https://openalex.org/W2135493101","https://openalex.org/W2147137560","https://openalex.org/W2340642587","https://openalex.org/W2623317660","https://openalex.org/W2765910425","https://openalex.org/W2772589676","https://openalex.org/W2781726626","https://openalex.org/W2897661175","https://openalex.org/W2979280753","https://openalex.org/W3023630091","https://openalex.org/W3043301796","https://openalex.org/W3096998908","https://openalex.org/W3100366369","https://openalex.org/W3111294788","https://openalex.org/W3116922584","https://openalex.org/W3119182912","https://openalex.org/W3126763268","https://openalex.org/W3135776554","https://openalex.org/W3156809058","https://openalex.org/W3165178885","https://openalex.org/W4224306307","https://openalex.org/W4283364883","https://openalex.org/W4285112491","https://openalex.org/W4286633813","https://openalex.org/W4293704620","https://openalex.org/W4294891463","https://openalex.org/W4297425289","https://openalex.org/W4298191245","https://openalex.org/W4309472116","https://openalex.org/W4313839181","https://openalex.org/W4317932271","https://openalex.org/W4360993800","https://openalex.org/W6747473740"],"related_works":["https://openalex.org/W2724311592","https://openalex.org/W2736986302","https://openalex.org/W2378383478","https://openalex.org/W2914953897","https://openalex.org/W4388412763","https://openalex.org/W2743782314","https://openalex.org/W1999583034","https://openalex.org/W3136375451","https://openalex.org/W2040174473","https://openalex.org/W1974484633"],"abstract_inverted_index":{"This":[0],"paper":[1],"aims":[2],"to":[3,30,111,129,132],"investigate":[4],"the":[5,60,117,122,137,151,155,160,164,169],"motion":[6,171],"control":[7,84,107,172],"method":[8,76,173],"of":[9,54,62,90,154,168],"a":[10,21,71,87,91,95],"bionic":[11,55],"underwater":[12,45,69,156],"exploration":[13,46,157],"robot":[14,17,158],"(RoboDact).":[15],"The":[16,36,83,98],"is":[18,81,86,109,127,142],"equipped":[19],"with":[20,77],"double-joint":[22],"tail":[23],"fin":[24],"and":[25,34,43,47,58,65,94,114,134,166,180],"two":[26,52],"undulating":[27],"pectoral":[28],"fins":[29,57],"obtain":[31],"good":[32],"mobility":[33],"stability.":[35],"hybrid":[37],"propulsion":[38,56],"mode":[39],"helps":[40],"perform":[41],"stable":[42],"effective":[44],"measurement.":[48],"To":[49],"coordinate":[50],"these":[51],"kinds":[53],"address":[59],"challenge":[61],"measurement":[63],"noises":[64],"external":[66],"disturbances":[67],"during":[68,159],"exploration,":[70],"novel":[72],"residual":[73,96,118],"reinforcement":[74],"learning":[75],"parameter":[78,138],"randomization":[79,139],"(PR-RRL)":[80],"proposed.":[82],"strategy":[85,141],"weighted":[88],"superposition":[89],"feedback":[92,100],"controller":[93,101,119],"controller.":[97],"observation":[99],"based":[102,120],"on":[103,121],"active":[104],"disturbance":[105],"rejection":[106],"(ADRC)":[108],"adapted":[110,128],"improve":[112,130],"stability":[113],"convergence.":[115],"And":[116],"soft":[123],"actor-critic":[124],"(SAC)":[125],"algorithm":[126],"adaptability":[131],"uncertainties":[133],"disturbances.":[135],"Moreover,":[136],"training":[140,161],"proposed":[143],"for":[144],"adapting":[145],"natural":[146],"complicated":[147],"scenarios":[148],"by":[149,176],"randomizing":[150],"partial":[152],"dynamics":[153],"phase.":[162],"Finally,":[163],"feasibility":[165],"efficacy":[167],"presented":[170],"are":[174],"validated":[175],"comprehensive":[177],"simulation":[178],"tests":[179],"RoboDact":[181],"prototype":[182],"physical":[183],"experiments.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}