{"id":"https://openalex.org/W3134619122","doi":"https://doi.org/10.1109/tnnls.2021.3057958","title":"Neural Networks Enhanced Optimal Admittance Control of Robot\u2013Environment Interaction Using Reinforcement Learning","display_name":"Neural Networks Enhanced Optimal Admittance Control of Robot\u2013Environment Interaction Using Reinforcement Learning","publication_year":2021,"publication_date":"2021-03-02","ids":{"openalex":"https://openalex.org/W3134619122","doi":"https://doi.org/10.1109/tnnls.2021.3057958","mag":"3134619122","pmid":"https://pubmed.ncbi.nlm.nih.gov/33651696"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2021.3057958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2021.3057958","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5085578333","display_name":"Guangzhu Peng","orcid":"https://orcid.org/0000-0003-3950-0451"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Guangzhu Peng","raw_affiliation_strings":["Department of Computer and Information Science, Faculty of Science and Technology, University of Macau, Macau, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, Faculty of Science and Technology, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100643265","display_name":"C. L. Philip Chen","orcid":"https://orcid.org/0000-0001-5451-7230"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]},{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["CN","MO"],"is_corresponding":false,"raw_author_name":"C. L. Philip Chen","raw_affiliation_strings":["School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","Pazhou Laboratory, Guangzhou, China","Faculty of Science and Technology, University of Macau, Macau, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Pazhou Laboratory, Guangzhou, China","institution_ids":[]},{"raw_affiliation_string":"Faculty of Science and Technology, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5085578333"],"corresponding_institution_ids":["https://openalex.org/I204512498"],"apc_list":null,"apc_paid":null,"fwci":8.1383,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.97935493,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"33","issue":"9","first_page":"4551","last_page":"4561"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998999834060669,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9934999942779541,"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/admittance","display_name":"Admittance","score":0.8782553672790527},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7490984797477722},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.740630030632019},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7144076228141785},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6723129749298096},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6192018985748291},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5936076641082764},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.576282799243927},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5367373824119568},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4929921329021454},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.43053123354911804},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3972490429878235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30025866627693176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24714112281799316},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06892412900924683}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.8782553672790527},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7490984797477722},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.740630030632019},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7144076228141785},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6723129749298096},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6192018985748291},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5936076641082764},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.576282799243927},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5367373824119568},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4929921329021454},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.43053123354911804},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3972490429878235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30025866627693176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24714112281799316},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06892412900924683},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017711","descriptor_name":"Nonlinear Dynamics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017711","descriptor_name":"Nonlinear Dynamics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017711","descriptor_name":"Nonlinear Dynamics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D059647","descriptor_name":"Gene-Environment Interaction","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D059647","descriptor_name":"Gene-Environment Interaction","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D059647","descriptor_name":"Gene-Environment Interaction","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2021.3057958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2021.3057958","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:33651696","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33651696","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[{"id":"https://openalex.org/G3939246514","display_name":null,"funder_award_id":"U20A20200","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G420612141","display_name":null,"funder_award_id":"U1801262","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5129535340","display_name":null,"funder_award_id":"61861136009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5436807578","display_name":null,"funder_award_id":"2019YFB1703600","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5750115239","display_name":null,"funder_award_id":"U1813203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G653700208","display_name":null,"funder_award_id":"61751202","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6741110764","display_name":null,"funder_award_id":"61702195","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7611596349","display_name":null,"funder_award_id":"61751205","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W92805021","https://openalex.org/W1493190793","https://openalex.org/W1504448809","https://openalex.org/W1517060199","https://openalex.org/W1768488582","https://openalex.org/W1967377907","https://openalex.org/W1978010349","https://openalex.org/W1984997259","https://openalex.org/W1996101704","https://openalex.org/W2012279256","https://openalex.org/W2029234750","https://openalex.org/W2031185015","https://openalex.org/W2033919583","https://openalex.org/W2036652665","https://openalex.org/W2040363089","https://openalex.org/W2054677094","https://openalex.org/W2057423886","https://openalex.org/W2057967659","https://openalex.org/W2089762101","https://openalex.org/W2090974678","https://openalex.org/W2093945540","https://openalex.org/W2098432798","https://openalex.org/W2105660272","https://openalex.org/W2108974199","https://openalex.org/W2111528514","https://openalex.org/W2114872772","https://openalex.org/W2126747268","https://openalex.org/W2133932631","https://openalex.org/W2152161277","https://openalex.org/W2156246393","https://openalex.org/W2156321584","https://openalex.org/W2159543578","https://openalex.org/W2165726932","https://openalex.org/W2253274025","https://openalex.org/W2346348157","https://openalex.org/W2468673050","https://openalex.org/W2504734035","https://openalex.org/W2511957348","https://openalex.org/W2521872058","https://openalex.org/W2591999327","https://openalex.org/W2738226240","https://openalex.org/W2738708472","https://openalex.org/W2793996673","https://openalex.org/W2802990478","https://openalex.org/W2807012007","https://openalex.org/W2883972132","https://openalex.org/W2890126432","https://openalex.org/W2900876894","https://openalex.org/W2909538221","https://openalex.org/W2913093499","https://openalex.org/W2942510244","https://openalex.org/W2982129084","https://openalex.org/W2984769036","https://openalex.org/W3017827511","https://openalex.org/W3110781789","https://openalex.org/W6630151701"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2047335472","https://openalex.org/W2367857055","https://openalex.org/W3180133250","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3],"adaptive":[4,84],"admittance":[5,51],"control":[6,18,79],"scheme":[7],"is":[8,19,35,45,91],"developed":[9,92],"for":[10],"robots":[11],"to":[12,21,47,93],"interact":[13],"with":[14,32,74,86],"time-varying":[15,33],"environments.":[16],"Admittance":[17],"adopted":[20],"achieve":[22],"a":[23,38,81,87],"compliant":[24],"physical":[25],"robot-environment":[26],"interaction,":[27],"and":[28,62,102],"the":[29,49,55,66,69,78,95,103,107,110],"uncertain":[30],"environment":[31],"dynamics":[34],"defined":[36],"as":[37],"linear":[39],"system.":[40],"A":[41],"critic":[42],"learning":[43,89],"method":[44],"used":[46],"obtain":[48],"desired":[50],"parameters":[52],"based":[53],"on":[54],"cost":[56],"function":[57],"composed":[58],"of":[59,68,109],"interaction":[60],"force":[61],"trajectory":[63,96],"tracking":[64,97],"without":[65],"knowledge":[67],"environmental":[70],"dynamics.":[71],"To":[72],"deal":[73],"dynamic":[75,88],"uncertainties":[76],"in":[77],"system,":[80],"neural-network":[82],"(NN)-based":[83],"controller":[85],"framework":[90],"guarantee":[94],"performance.":[98],"Experiments":[99],"are":[100],"conducted":[101],"results":[104],"have":[105],"verified":[106],"effectiveness":[108],"proposed":[111],"method.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
