{"id":"https://openalex.org/W4412758114","doi":"https://doi.org/10.1177/02783649251360254","title":"Learning to control a soft robotic manipulator under uncertainty and unforeseen changes in robot\u2013environment interaction","display_name":"Learning to control a soft robotic manipulator under uncertainty and unforeseen changes in robot\u2013environment interaction","publication_year":2025,"publication_date":"2025-07-30","ids":{"openalex":"https://openalex.org/W4412758114","doi":"https://doi.org/10.1177/02783649251360254"},"language":"en","primary_location":{"id":"doi:10.1177/02783649251360254","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649251360254","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5059872804","display_name":"Zhi Qiang Tang","orcid":"https://orcid.org/0000-0001-6555-9938"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210167254","display_name":"Singapore-MIT Alliance for Research and Technology","ror":"https://ror.org/05yb3w112","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210167254"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Zhiqiang Tang","raw_affiliation_strings":["National University of Singapore","Singapore-MIT Alliance for Research and Technology (SMART) Centre","Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","Singapore-MIT Alliance for Research and Technology (SMART) Centre, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Singapore-MIT Alliance for Research and Technology (SMART) Centre","institution_ids":["https://openalex.org/I4210167254"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Singapore-MIT Alliance for Research and Technology (SMART) Centre, Singapore","institution_ids":["https://openalex.org/I4210167254"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066732115","display_name":"Peiyi Wang","orcid":"https://orcid.org/0000-0002-6010-6427"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Peiyi Wang","raw_affiliation_strings":["National University of Singapore","Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003167096","display_name":"Wenci Xin","orcid":"https://orcid.org/0000-0002-2582-8037"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wenci Xin","raw_affiliation_strings":["National University of Singapore","Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045065209","display_name":"Cecilia Laschi","orcid":"https://orcid.org/0000-0001-5248-1043"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Cecilia Laschi","raw_affiliation_strings":["National University of Singapore","Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5045065209","https://openalex.org/A5059872804"],"corresponding_institution_ids":["https://openalex.org/I165932596","https://openalex.org/I4210167254"],"apc_list":null,"apc_paid":null,"fwci":1.363,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81760697,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"45","issue":"3","first_page":"452","last_page":"476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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/T10618","display_name":"Aortic Disease and Treatment Approaches","score":0.9836000204086304,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.982699990272522,"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/robot-manipulator","display_name":"Robot manipulator","score":0.684747576713562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5700560212135315},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5694699287414551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5400207042694092},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.528308629989624},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5122749209403992},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.48908764123916626},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4857335686683655},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.430614709854126},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3706691265106201},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36692726612091064},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33462047576904297}],"concepts":[{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.684747576713562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5700560212135315},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5694699287414551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5400207042694092},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.528308629989624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5122749209403992},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.48908764123916626},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4857335686683655},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.430614709854126},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3706691265106201},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36692726612091064},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33462047576904297}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649251360254","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649251360254","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W607110411","https://openalex.org/W1024591929","https://openalex.org/W1515749184","https://openalex.org/W1976606095","https://openalex.org/W1977655452","https://openalex.org/W2016958754","https://openalex.org/W2018705428","https://openalex.org/W2045332133","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2112474089","https://openalex.org/W2145633829","https://openalex.org/W2160727143","https://openalex.org/W2179284380","https://openalex.org/W2318613964","https://openalex.org/W2337157527","https://openalex.org/W2339027962","https://openalex.org/W2396864609","https://openalex.org/W2495535193","https://openalex.org/W2560730116","https://openalex.org/W2597289420","https://openalex.org/W2605807134","https://openalex.org/W2619551236","https://openalex.org/W2741086304","https://openalex.org/W2782435507","https://openalex.org/W2900120446","https://openalex.org/W2913340405","https://openalex.org/W2914043140","https://openalex.org/W2967427547","https://openalex.org/W2970743203","https://openalex.org/W2979868741","https://openalex.org/W2990138404","https://openalex.org/W2996514457","https://openalex.org/W2997364322","https://openalex.org/W3000160985","https://openalex.org/W3000559819","https://openalex.org/W3004554579","https://openalex.org/W3005284536","https://openalex.org/W3012402823","https://openalex.org/W3042103612","https://openalex.org/W3045714531","https://openalex.org/W3105252106","https://openalex.org/W3158338937","https://openalex.org/W3159360606","https://openalex.org/W3165472471","https://openalex.org/W3167876879","https://openalex.org/W3187710359","https://openalex.org/W3201763589","https://openalex.org/W3203388279","https://openalex.org/W3204719635","https://openalex.org/W4212863985","https://openalex.org/W4226256030","https://openalex.org/W4229014698","https://openalex.org/W4243216834","https://openalex.org/W4245514161","https://openalex.org/W4285301347","https://openalex.org/W4290043223","https://openalex.org/W4292078458","https://openalex.org/W4304698290","https://openalex.org/W4378192004","https://openalex.org/W4379618936","https://openalex.org/W4383108934","https://openalex.org/W4383109125","https://openalex.org/W4386279966","https://openalex.org/W4392030751","https://openalex.org/W4404462437","https://openalex.org/W6683734941","https://openalex.org/W6734797129"],"related_works":["https://openalex.org/W2326585759","https://openalex.org/W4312473168","https://openalex.org/W4211124276","https://openalex.org/W4312269480","https://openalex.org/W2391397427","https://openalex.org/W1996341361","https://openalex.org/W4366609476","https://openalex.org/W2078127841","https://openalex.org/W2156518980","https://openalex.org/W4403420403"],"abstract_inverted_index":{"Safe":[0],"and":[1,17,127,145,156,164,181,197],"efficient":[2],"robot\u2013environment":[3,91,203],"interaction":[4],"is":[5,87,105,115],"a":[6,43,69,82,122,128,187],"critical":[7],"yet":[8],"challenging":[9],"problem,":[10],"particularly":[11],"in":[12,47,151,174,202],"the":[13,31,51,75,152,169],"presence":[14,153],"of":[15,78,154,171,176],"uncertainty":[16,196],"unforeseen":[18,157,200],"changes.":[19],"Soft":[20],"robotics,":[21],"known":[22],"for":[23,53,191],"its":[24],"inherent":[25],"compliance,":[26],"enables":[27],"safe":[28],"interactions":[29,92],"with":[30,59,102,161],"environment":[32],"but":[33],"often":[34],"suffers":[35],"from":[36],"inefficient":[37],"control":[38,71,76,99,148,166,189],"performance.":[39,111],"Meta-learning,":[40],"which":[41],"leverages":[42],"robot\u2019s":[44],"prior":[45],"experiences":[46],"different":[48,94],"environments,":[49],"offers":[50],"potential":[52],"rapid":[54],"adaptation":[55],"to":[56,73,89,108,141,194,199],"similar":[57],"conditions":[58],"minimal":[60],"observations.":[61],"Building":[62],"on":[63,117],"this":[64,66],"principle,":[65],"work":[67,185],"develops":[68],"learning-based":[70,163],"approach":[72,114,173,190],"enhance":[74],"efficiency":[77],"soft":[79,119,125,130,192],"robotics.":[80],"Specifically,":[81],"flexible":[83],"meta-learning":[84],"model":[85],"structure":[86],"designed":[88],"address":[90],"across":[93],"situations.":[95],"An":[96],"uncertainty-aware":[97],"optimal":[98],"policy,":[100],"equipped":[101],"stability":[103],"guarantees,":[104],"carefully":[106],"crafted":[107],"achieve":[109,147],"desired":[110],"The":[112],"proposed":[113],"validated":[116],"two":[118],"robotic":[120],"systems:":[121],"pneumatic":[123],"cable-driven":[124],"manipulator":[126],"rod-driven":[129],"robot.":[131],"Experimental":[132],"results":[133],"demonstrate":[134],"that":[135],"these":[136],"robots":[137,193],"can":[138],"rapidly":[139],"adapt":[140,198],"varying":[142],"environmental":[143],"situations":[144],"effectively":[146],"objectives,":[149],"even":[150],"random":[155],"disturbances.":[158],"Furthermore,":[159],"comparisons":[160],"other":[162],"physics-based":[165],"methods":[167],"highlight":[168],"superiority":[170],"our":[172],"terms":[175],"faster":[177],"adaptation,":[178],"improved":[179],"stability,":[180],"higher":[182],"accuracy.":[183],"This":[184],"provides":[186],"feasible":[188],"handle":[195],"changes":[201],"interactions.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}