{"id":"https://openalex.org/W4402262870","doi":"https://doi.org/10.23919/acc60939.2024.10644392","title":"Efficient Learning and Control of String- Type Artificial Muscle Driven Robotic Systems","display_name":"Efficient Learning and Control of String- Type Artificial Muscle Driven Robotic Systems","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4402262870","doi":"https://doi.org/10.23919/acc60939.2024.10644392"},"language":"en","primary_location":{"id":"doi:10.23919/acc60939.2024.10644392","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5113368621","display_name":"Jiyue Tao","orcid":"https://orcid.org/0009-0009-9897-4500"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyue Tao","raw_affiliation_strings":["College of Engineering, Peking University,The Department of Advanced Manufacturing and Robotics,Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University,The Department of Advanced Manufacturing and Robotics,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044434536","display_name":"Sunil Kumar Rajendran","orcid":"https://orcid.org/0000-0001-6116-7857"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sunil Kumar Rajendran","raw_affiliation_strings":["The BSS Technologies Inc.,Takoma Park,MD,USA,20912"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BSS Technologies Inc.,Takoma Park,MD,USA,20912","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101674368","display_name":"Yunsong Zhang","orcid":"https://orcid.org/0000-0002-7101-7390"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunsong Zhang","raw_affiliation_strings":["College of Engineering, Peking University,The Department of Advanced Manufacturing and Robotics,Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University,The Department of Advanced Manufacturing and Robotics,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059772938","display_name":"Feitian Zhang","orcid":"https://orcid.org/0000-0003-0992-5256"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feitian Zhang","raw_affiliation_strings":["College of Engineering, Peking University,The State Key Laboratory of Turbulence and Complex Systems,The Department of Advanced Manufacturing and Robotics,Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University,The State Key Laboratory of Turbulence and Complex Systems,The Department of Advanced Manufacturing and Robotics,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005975642","display_name":"Dexin Zhao","orcid":"https://orcid.org/0009-0001-0009-9595"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dexin Zhao","raw_affiliation_strings":["The National Innovation Institute of Defense Technology,Beijing,China,100071"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The National Innovation Institute of Defense Technology,Beijing,China,100071","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102963641","display_name":"Tongsheng Shen","orcid":"https://orcid.org/0009-0006-6665-9299"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tongsheng Shen","raw_affiliation_strings":["The National Innovation Institute of Defense Technology,Beijing,China,100071"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The National Innovation Institute of Defense Technology,Beijing,China,100071","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"981","last_page":"987"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9979000091552734,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9979000091552734,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/computer-science","display_name":"Computer science","score":0.6397956013679504},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.5499347448348999},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.5109497904777527},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49074041843414307},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14927420020103455},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.14662745594978333}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6397956013679504},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.5499347448348999},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.5109497904777527},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49074041843414307},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14927420020103455},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.14662745594978333},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc60939.2024.10644392","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1523194089","https://openalex.org/W1991761189","https://openalex.org/W2024848799","https://openalex.org/W2070662831","https://openalex.org/W2165245999","https://openalex.org/W2341967407","https://openalex.org/W2477469351","https://openalex.org/W2886937132","https://openalex.org/W2886944637","https://openalex.org/W2893266862","https://openalex.org/W2901870638","https://openalex.org/W2910348050","https://openalex.org/W2947665220","https://openalex.org/W2954996726","https://openalex.org/W2963864421","https://openalex.org/W2973056265","https://openalex.org/W2997103132","https://openalex.org/W3002883086","https://openalex.org/W3015437096","https://openalex.org/W3021708257","https://openalex.org/W3114694914","https://openalex.org/W3157829850","https://openalex.org/W3185244875","https://openalex.org/W4285178265","https://openalex.org/W4297964528","https://openalex.org/W4307234290","https://openalex.org/W4313173046","https://openalex.org/W4315488827","https://openalex.org/W4367845553","https://openalex.org/W4385489544","https://openalex.org/W4390017941","https://openalex.org/W6684921986","https://openalex.org/W6704181826","https://openalex.org/W6747473740","https://openalex.org/W6748839928","https://openalex.org/W6771740491","https://openalex.org/W6776867236"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2646796998","https://openalex.org/W1977524617","https://openalex.org/W2288267393","https://openalex.org/W2532652555","https://openalex.org/W2682476581","https://openalex.org/W2332671511","https://openalex.org/W2317342931","https://openalex.org/W1997067995"],"abstract_inverted_index":{"This":[0,129],"paper":[1,95,130],"investigates":[2],"the":[3,16,21,24,44,88,105,132,143,175,182,187,192],"learning-based":[4,99,177],"control":[5,41,60,100,144,178],"of":[6,20,47,63,76,91],"robotic":[7,65,89,109,159,165,169],"systems":[8,90,110],"driven":[9,111],"by":[10,112],"string-type":[11,113,152],"artificial":[12,114,153],"muscles.":[13],"Due":[14],"to":[15,33,59,81,103,136],"highly":[17],"nonlinear":[18],"dynamics":[19],"actuators":[22],"and":[23,79,126,141,167,185],"complicated":[25],"mechanical":[26],"structure,":[27],"it":[28],"is":[29,84],"typically":[30],"very":[31],"challenging":[32],"design":[34],"traditional":[35],"model-based":[36],"controllers":[37],"that":[38,174],"exhibit":[39],"desired":[40],"performances.":[42],"With":[43],"rapid":[45],"development":[46],"machine":[48],"learning":[49,53,125,134],"techniques,":[50],"deep":[51],"reinforcement":[52],"(DRL)":[54],"algorithms":[55,70,140],"have":[56],"been":[57],"utilized":[58],"a":[61,73,157,161,168],"variety":[62],"complex":[64],"systems.":[66],"However,":[67],"these":[68],"DRL":[69,139],"usually":[71],"require":[72],"huge":[74],"amount":[75],"training":[77,106,119],"data":[78,127,188],"iterations":[80],"converge,":[82],"which":[83],"generally":[85],"unacceptable":[86],"for":[87,108],"interest.":[92],"Therefore,":[93],"this":[94],"designs":[96],"an":[97],"efficient":[98],"algorithm,":[101],"aiming":[102],"improve":[104,186],"efficiency":[107,189],"muscle":[115],"actuators.":[116],"Specially,":[117],"two":[118,162],"improvements":[120],"are":[121],"proposed":[122,133,176],"including":[123,156],"imitation":[124],"augmentation.":[128],"applies":[131],"methods":[135,179],"three":[137,147,151,193],"popular":[138],"tests":[142],"performances":[145],"in":[146,190],"case":[148,194],"studies":[149],"using":[150],"muscle-driven":[154],"robots,":[155],"parallel":[158],"wrist,":[160],"degrees-of-freedom":[163],"(DOF)":[164],"eye":[166],"finger.":[170],"Simulation":[171],"results":[172],"show":[173],"significantly":[180],"accelerate":[181],"convergence":[183],"speed":[184],"all":[191],"studies.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}