{"id":"https://openalex.org/W4393275031","doi":"https://doi.org/10.3389/fnbot.2024.1375309","title":"A reinforcement learning enhanced pseudo-inverse approach to self-collision avoidance of redundant robots","display_name":"A reinforcement learning enhanced pseudo-inverse approach to self-collision avoidance of redundant robots","publication_year":2024,"publication_date":"2024-03-28","ids":{"openalex":"https://openalex.org/W4393275031","doi":"https://doi.org/10.3389/fnbot.2024.1375309","pmid":"https://pubmed.ncbi.nlm.nih.gov/38606052"},"language":"en","primary_location":{"id":"doi:10.3389/fnbot.2024.1375309","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1375309","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2024.1375309/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2024.1375309/pdf?isPublishedV2=False","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031005571","display_name":"Tinghe Hong","orcid":"https://orcid.org/0000-0001-8067-9196"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tinghe Hong","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","School of Computer Science and Engineering, Sun Yat-sen University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063378661","display_name":"Weibing Li","orcid":"https://orcid.org/0000-0002-7970-9076"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibing Li","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","School of Computer Science and Engineering, Sun Yat-sen University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100768452","display_name":"Kai Huang","orcid":"https://orcid.org/0000-0003-0359-7810"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kai Huang","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","School of Computer Science and Engineering, Sun Yat-sen University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100768452"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":{"value":2950,"currency":"USD","value_usd":2950},"apc_paid":{"value":2950,"currency":"USD","value_usd":2950},"fwci":2.4439,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.8860463,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"18","issue":null,"first_page":"1375309","last_page":"1375309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.22769999504089355,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.22769999504089355,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.16249999403953552,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.08959999680519104,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8047110438346863},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7399778366088867},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7336972951889038},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7301594614982605},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6521486043930054},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6468641757965088},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6087428331375122},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4714295268058777},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4167359173297882},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4122639298439026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3602054715156555},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0807543694972992},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07324692606925964}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8047110438346863},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7399778366088867},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7336972951889038},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7301594614982605},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6521486043930054},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6468641757965088},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6087428331375122},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4714295268058777},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4167359173297882},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4122639298439026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3602054715156555},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0807543694972992},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07324692606925964},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/fnbot.2024.1375309","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1375309","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2024.1375309/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},{"id":"pmid:38606052","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38606052","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":"Frontiers in neurorobotics","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11006967","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11006967","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11006967/pdf/fnbot-18-1375309.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Neurorobot","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:f789a595db414e5c90af00f40fd91ede","is_oa":true,"landing_page_url":"https://doaj.org/article/f789a595db414e5c90af00f40fd91ede","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Neurorobotics, Vol 18 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/fnbot.2024.1375309","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1375309","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2024.1375309/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G5358768144","display_name":null,"funder_award_id":"62206317","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/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4393275031.pdf"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1976523141","https://openalex.org/W1993383995","https://openalex.org/W2005872817","https://openalex.org/W2015003349","https://openalex.org/W2028099324","https://openalex.org/W2088219864","https://openalex.org/W2120713930","https://openalex.org/W2152667335","https://openalex.org/W2164998674","https://openalex.org/W2239571531","https://openalex.org/W2246023205","https://openalex.org/W2323226228","https://openalex.org/W2781105378","https://openalex.org/W2787938642","https://openalex.org/W2911305610","https://openalex.org/W2913668833","https://openalex.org/W3093106179","https://openalex.org/W3127430169","https://openalex.org/W3175584021","https://openalex.org/W3185463460","https://openalex.org/W3212826513","https://openalex.org/W3217251856","https://openalex.org/W4248434772","https://openalex.org/W4250589301","https://openalex.org/W4283365039","https://openalex.org/W4285272888","https://openalex.org/W4285294350","https://openalex.org/W4296425656","https://openalex.org/W4300799055","https://openalex.org/W4301409532","https://openalex.org/W4312695529","https://openalex.org/W4377971355","https://openalex.org/W4387886152","https://openalex.org/W6634544126","https://openalex.org/W6637050416","https://openalex.org/W6644679892","https://openalex.org/W6644693385","https://openalex.org/W6740801417","https://openalex.org/W6747473740","https://openalex.org/W6804401341","https://openalex.org/W6852958780"],"related_works":["https://openalex.org/W2889566344","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W4306904969","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408"],"abstract_inverted_index":{"Introduction:":[0],"Redundant":[1,25],"robots":[2],"offer":[3],"greater":[4],"flexibility":[5],"compared":[6],"to":[7,13,47,63,84,103],"non-redundant":[8],"ones":[9],"but":[10],"are":[11],"susceptible":[12],"increased":[14],"collision":[15,34],"risks":[16,147],"when":[17],"the":[18,21,48,76,105,108,116,119,124],"end-effector":[19],"approaches":[20],"robot's":[22],"own":[23],"links.":[24],"degrees":[26],"of":[27,80,107,118,126],"freedom":[28],"(DoFs)":[29],"present":[30],"an":[31,38,97],"opportunity":[32],"for":[33,90,154],"avoidance;":[35],"however,":[36],"selecting":[37],"appropriate":[39],"inverse":[40],"kinematics":[41],"(IK)":[42],"solution":[43,89],"remains":[44],"challenging":[45],"due":[46],"infinite":[49],"possible":[50],"solutions.":[51],"Methods:":[52],"This":[53],"study":[54,140],"proposes":[55],"a":[56,81,86],"reinforcement":[57],"learning":[58],"(RL)":[59],"enhanced":[60,134],"pseudo-inverse":[61,82,135],"approach":[62,136],"address":[64],"self-collision":[65,127,146],"avoidance":[66],"in":[67,122,128,138,144,148,159],"redundant":[68,129,149],"robots.":[69,130],"The":[70,132],"RL":[71,109,133],"agent":[72],"is":[73,101],"integrated":[74],"into":[75],"redundancy":[77],"resolution":[78],"process":[79],"method":[83,121],"determine":[85],"suitable":[87],"IK":[88],"avoiding":[91],"self-collisions":[92],"during":[93],"task":[94],"execution.":[95],"Additionally,":[96],"improved":[98],"replay":[99],"buffer":[100],"implemented":[102],"enhance":[104],"performance":[106,158],"algorithm.":[110],"Results:":[111],"Simulations":[112],"and":[113,157],"experiments":[114],"validate":[115],"effectiveness":[117],"proposed":[120],"reducing":[123],"risk":[125],"Conclusion:":[131],"presented":[137],"this":[139],"demonstrates":[141],"promising":[142],"results":[143],"mitigating":[145],"robots,":[150],"highlighting":[151],"its":[152],"potential":[153],"enhancing":[155],"safety":[156],"robotic":[160],"systems.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}