{"id":"https://openalex.org/W4407185076","doi":"https://doi.org/10.1109/tro.2025.3631818","title":"Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots Using Physics-Informed Neural Networks","display_name":"Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots Using Physics-Informed Neural Networks","publication_year":2025,"publication_date":"2025-11-12","ids":{"openalex":"https://openalex.org/W4407185076","doi":"https://doi.org/10.1109/tro.2025.3631818"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3631818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3631818","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2502.01916","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5095692661","display_name":"Tim-Lukas Habich","orcid":"https://orcid.org/0000-0003-4167-8443"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim-Lukas Habich","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4167-8443","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103079493","display_name":"Aran Mohammad","orcid":"https://orcid.org/0000-0003-3120-2695"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Aran Mohammad","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-3120-2695","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028312231","display_name":"Simon F. G. Ehlers","orcid":"https://orcid.org/0000-0001-5524-6639"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon F. G. Ehlers","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5524-6639","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044537719","display_name":"Martin Bensch","orcid":"https://orcid.org/0000-0003-2412-9995"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Bensch","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2412-9995","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039578386","display_name":"Thomas Seel","orcid":"https://orcid.org/0000-0002-6920-1690"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Seel","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6920-1690","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040515531","display_name":"Moritz Schappler","orcid":"https://orcid.org/0000-0001-7952-7363"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Schappler","raw_affiliation_strings":["Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7952-7363","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems, Leibniz University Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114112103"],"apc_list":null,"apc_paid":null,"fwci":0.4916,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54616573,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"42","issue":null,"first_page":"619","last_page":"636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9750000238418579,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9750000238418579,"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.9509999752044678,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11110","display_name":"Stability and Controllability of Differential Equations","score":0.9329000115394592,"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/artificial-neural-network","display_name":"Artificial neural network","score":0.6491249799728394},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6020887494087219},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5396322011947632},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47128361463546753},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.46734195947647095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4337441921234131},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35076814889907837},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3475881516933441},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25162598490715027}],"concepts":[{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6491249799728394},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6020887494087219},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5396322011947632},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47128361463546753},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.46734195947647095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4337441921234131},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35076814889907837},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3475881516933441},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25162598490715027}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2025.3631818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3631818","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repo.uni-hannover.de:123456789/20236","is_oa":false,"landing_page_url":"https://repo.uni-hannover.de/handle/123456789/20236","pdf_url":null,"source":{"id":"https://openalex.org/S4306401575","display_name":"Institutional Repository of Leibniz Universit\u00e4t Hannover (Leibniz Universit\u00e4t Hannover)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114112103","host_organization_name":"Leibniz University Hannover","host_organization_lineage":["https://openalex.org/I114112103"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics (T-RO)","raw_type":"doc-type:Article"},{"id":"pmh:oai:arXiv.org:2502.01916","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.01916","pdf_url":"https://arxiv.org/pdf/2502.01916","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2502.01916","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2502.01916","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2502.01916","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.01916","pdf_url":"https://arxiv.org/pdf/2502.01916","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407185076.pdf","grobid_xml":"https://content.openalex.org/works/W4407185076.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W4285595274","https://openalex.org/W81137451","https://openalex.org/W2094121346"],"abstract_inverted_index":{"Soft":[0],"robots":[1,72],"can":[2],"revolutionize":[3],"several":[4],"applications":[5],"with":[6,28,74,138,166],"high":[7,126],"demands":[8],"on":[9,77],"dexterity":[10],"and":[11,19,23,34],"safety.":[12],"When":[13],"operating":[14],"these":[15],"systems,":[16],"real-time":[17],"estimation":[18],"control":[20,157],"require":[21],"fast":[22],"accurate":[24,133],"models.":[25],"However,":[26],"prediction":[27,129],"first-principles":[29],"(FP)":[30],"models":[31,37],"is":[32,50,87,136,173],"slow,":[33],"learned":[35],"black-box":[36],"have":[38],"poor":[39],"generalizability.":[40,127],"Physics-informed":[41],"machine":[42],"learning":[43],"offers":[44],"excellent":[45],"advantages":[46],"here,":[47],"but":[48],"it":[49],"currently":[51],"limited":[52],"to":[53,89,117,143],"simple,":[54],"often":[55],"simulated":[56],"systems":[57],"without":[58],"considering":[59],"changes":[60],"after":[61],"training.":[62],"We":[63],"propose":[64],"physics-informed":[65],"neural":[66,120],"networks":[67],"(PINNs)":[68],"for":[69,108],"articulated":[70],"soft":[71],"(ASRs)":[73],"a":[75,90,109,118,125,144,160],"focus":[76],"data":[78,86,102],"efficiency.":[79],"The":[80,128],"amount":[81],"of":[82,101,131,146,159],"expensive":[83],"real-world":[84],"training":[85],"reduced":[88,150],"minimum":[91],"\u2014":[92],"one":[93,96],"dataset":[94],"in":[95,103,175],"system":[97],"domain.":[98],"Two":[99],"hours":[100],"different":[104],"domains":[105],"are":[106],"used":[107],"comparison":[110],"against":[111],"two":[112],"gold-standard":[113],"approaches:":[114],"In":[115],"contrast":[116],"recurrent":[119],"network,":[121],"the":[122,139,167],"PINN":[123,140],"provides":[124],"speed":[130],"an":[132],"FP":[134],"model":[135,155],"exceeded":[137],"by":[141],"up":[142],"factor":[145],"467":[147],"at":[148,170],"slightly":[149],"accuracy.":[151],"This":[152],"enables":[153],"nonlinear":[154],"predictive":[156],"(MPC)":[158],"pneumatic":[161],"ASR.":[162],"Accurate":[163],"position":[164],"tracking":[165],"MPC":[168],"running":[169],"47":[171],"Hz":[172],"achieved":[174],"six":[176],"dynamic":[177],"experiments.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-08T01:25:22.217667","created_date":"2025-02-06T00:00:00"}
