{"id":"https://openalex.org/W4414249955","doi":"https://doi.org/10.3389/frobt.2025.1638853","title":"A PSO\u2013ML-LSTM-based IMU state estimation approach for manipulator teleoperation","display_name":"A PSO\u2013ML-LSTM-based IMU state estimation approach for manipulator teleoperation","publication_year":2025,"publication_date":"2025-09-16","ids":{"openalex":"https://openalex.org/W4414249955","doi":"https://doi.org/10.3389/frobt.2025.1638853","pmid":"https://pubmed.ncbi.nlm.nih.gov/41035530"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2025.1638853","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1638853","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1638853/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"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 Robotics and AI","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/journals/robotics-and-ai/articles/10.3389/frobt.2025.1638853/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061906763","display_name":"Renyi Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210113138","display_name":"Guangzhou Automobile Group (China)","ror":"https://ror.org/026fzn952","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210113138"]},{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renyi Zhou","raw_affiliation_strings":["Advanced Technology Department, GAC R&D Center, Guangzhou Automobile Group Co. Ltd., Guangzhou, China","School of Electro-mechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Advanced Technology Department, GAC R&D Center, Guangzhou Automobile Group Co. Ltd., Guangzhou, China","institution_ids":["https://openalex.org/I4210113138"]},{"raw_affiliation_string":"School of Electro-mechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083859859","display_name":"Y. Li","orcid":null},"institutions":[{"id":"https://openalex.org/I37987034","display_name":"Guangzhou University","ror":"https://ror.org/05ar8rn06","country_code":"CN","type":"education","lineage":["https://openalex.org/I37987034"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanchong Li","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China","institution_ids":["https://openalex.org/I37987034"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101533058","display_name":"Aimin Zhang","orcid":"https://orcid.org/0000-0003-0384-0892"},"institutions":[{"id":"https://openalex.org/I4210113138","display_name":"Guangzhou Automobile Group (China)","ror":"https://ror.org/026fzn952","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210113138"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aimin Zhang","raw_affiliation_strings":["Advanced Technology Department, GAC R&D Center, Guangzhou Automobile Group Co. Ltd., Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Advanced Technology Department, GAC R&D Center, Guangzhou Automobile Group Co. Ltd., Guangzhou, China","institution_ids":["https://openalex.org/I4210113138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082135328","display_name":"Tie Zhang","orcid":"https://orcid.org/0000-0001-9716-3970"},"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":"Tie Zhang","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013471002","display_name":"Yisheng Guan","orcid":"https://orcid.org/0000-0002-7011-0331"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["School of Electro-mechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electro-mechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030267918","display_name":"Zhijia Zhao","orcid":"https://orcid.org/0000-0002-5090-3801"},"institutions":[{"id":"https://openalex.org/I37987034","display_name":"Guangzhou University","ror":"https://ror.org/05ar8rn06","country_code":"CN","type":"education","lineage":["https://openalex.org/I37987034"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijia Zhao","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China","institution_ids":["https://openalex.org/I37987034"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063468713","display_name":"Shengmei Chen","orcid":"https://orcid.org/0000-0001-9101-0279"},"institutions":[{"id":"https://openalex.org/I37987034","display_name":"Guangzhou University","ror":"https://ror.org/05ar8rn06","country_code":"CN","type":"education","lineage":["https://openalex.org/I37987034"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shouyan Chen","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China","institution_ids":["https://openalex.org/I37987034"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5063468713"],"corresponding_institution_ids":["https://openalex.org/I37987034"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2617685,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"1638853","last_page":"1638853"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/teleoperation","display_name":"Teleoperation","score":0.9003000259399414},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8334000110626221},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5927000045776367},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47369998693466187},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4399000108242035},{"id":"https://openalex.org/keywords/units-of-measurement","display_name":"Units of measurement","score":0.3513999879360199},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.34450000524520874},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.3353999853134155}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9003000259399414},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8334000110626221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7555000185966492},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5927000045776367},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47369998693466187},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4399000108242035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3971000015735626},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36309999227523804},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.3513999879360199},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3353999853134155},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.33070001006126404},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2994999885559082},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2703000009059906},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.257999986410141},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.25459998846054077},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2533000111579895}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3389/frobt.2025.1638853","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1638853","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1638853/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"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 Robotics and AI","raw_type":"journal-article"},{"id":"pmid:41035530","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41035530","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 robotics and AI","raw_type":null},{"id":"pmh:oai:doaj.org/article:4c925398285746fbab36fa3fc5d24041","is_oa":true,"landing_page_url":"https://doaj.org/article/4c925398285746fbab36fa3fc5d24041","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 12 (2025)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:11291882","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12481027","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:12481027","is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12481027/","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2025.1638853","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1638853","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1638853/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"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 Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4414249955.pdf"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W2767708052","https://openalex.org/W2794371568","https://openalex.org/W2986736840","https://openalex.org/W3003233851","https://openalex.org/W3092844828","https://openalex.org/W3180430381","https://openalex.org/W3197158156","https://openalex.org/W3205970613","https://openalex.org/W4225919226","https://openalex.org/W4289829068","https://openalex.org/W4295337989","https://openalex.org/W4298326869","https://openalex.org/W4310875088","https://openalex.org/W4318953217","https://openalex.org/W4383751631","https://openalex.org/W4385453080","https://openalex.org/W4389347614","https://openalex.org/W4390745927","https://openalex.org/W4391620986","https://openalex.org/W4392939582","https://openalex.org/W4403977174","https://openalex.org/W4403997342","https://openalex.org/W4404955281"],"related_works":[],"abstract_inverted_index":{"Manipulator":[0],"teleoperation":[1,22,61,105],"can":[2,160],"liberate":[3],"humans":[4],"from":[5],"hazardous":[6],"tasks.":[7],"Signal":[8],"noise":[9],"caused":[10],"by":[11],"environmental":[12],"disturbances":[13],"and":[14,42,71,85,118,128],"the":[15,21,52,59,68,96,103,108,135,145,148,157,163],"devices'":[16],"inherent":[17],"characteristics":[18],"may":[19],"limit":[20],"performance.":[23,62,106],"This":[24,90],"paper":[25],"proposes":[26],"an":[27],"approach":[28],"for":[29,67,133],"inertial":[30],"measurement":[31],"unit":[32],"(IMU)":[33],"state":[34,111,150],"estimation":[35,112,136,151],"based":[36,80],"on":[37,58,81,102,169],"particle":[38],"swarm":[39],"optimization":[40],"(PSO)":[41],"modulated":[43],"long":[44],"short-term":[45],"memory":[46],"(ML-LSTM)":[47],"neural":[48,120],"networks":[49],"to":[50,94,143],"mitigate":[51],"impact":[53,97,164],"of":[54,98,125,147,165],"IMU":[55,99,109,166],"cumulative":[56,100,167],"error":[57,101],"robot":[60,104,170],"A":[63],"motion":[64],"mapping":[65,88],"model":[66,91,113],"human":[69],"arm":[70,76],"a":[72,86],"seven-degree-of-freedom":[73],"(7-DOF)":[74],"robotic":[75],"are":[77,131,141],"first":[78],"established":[79],"global":[82],"configuration":[83],"parameters":[84],"hybrid":[87],"method.":[89],"is":[92,114],"used":[93,132],"describe":[95],"Subsequently,":[107],"pose":[110],"constructed":[115],"using":[116],"PSO":[117],"ML-LSTM":[119],"networks.":[121],"The":[122,153],"initial":[123],"data":[124],"multiple":[126],"IMUs":[127],"handling":[129],"handles":[130],"training":[134],"model.":[137,152],"Finally,":[138],"comparative":[139],"experiments":[140],"conducted":[142],"verify":[144],"performance":[146],"proposed":[149],"results":[154],"demonstrate":[155],"that":[156],"PSO-ML-LSTM":[158],"algorithm":[159],"effectively":[161],"eliminate":[162],"errors":[168],"teleoperation.":[171]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}