{"id":"https://openalex.org/W3032958018","doi":"https://doi.org/10.3390/info11060310","title":"Position Control of Cable-Driven Robotic Soft Arm Based on Deep Reinforcement Learning","display_name":"Position Control of Cable-Driven Robotic Soft Arm Based on Deep Reinforcement Learning","publication_year":2020,"publication_date":"2020-06-08","ids":{"openalex":"https://openalex.org/W3032958018","doi":"https://doi.org/10.3390/info11060310","mag":"3032958018"},"language":"en","primary_location":{"id":"doi:10.3390/info11060310","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info11060310","pdf_url":"https://www.mdpi.com/2078-2489/11/6/310/pdf?version=1593403409","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2078-2489/11/6/310/pdf?version=1593403409","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019020601","display_name":"Qiuxuan Wu","orcid":"https://orcid.org/0000-0001-5153-6524"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuxuan Wu","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042248535","display_name":"Yueqin Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueqin Gu","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061947802","display_name":"Yancheng Li","orcid":"https://orcid.org/0000-0002-6720-8493"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yancheng Li","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100666361","display_name":"Botao Zhang","orcid":"https://orcid.org/0000-0002-7826-3121"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Botao Zhang","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060426096","display_name":"Sergey A. Chepinskiy","orcid":"https://orcid.org/0000-0002-0193-8688"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Sergey A. Chepinskiy","raw_affiliation_strings":["Faculty of Control Systems and Robotics, ITMO University, St. Petersburg 197101, Russia"],"affiliations":[{"raw_affiliation_string":"Faculty of Control Systems and Robotics, ITMO University, St. Petersburg 197101, Russia","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100632535","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0002-4593-5809"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026194474","display_name":"Anton Zhilenkov","orcid":"https://orcid.org/0000-0003-1555-1318"},"institutions":[{"id":"https://openalex.org/I4210141538","display_name":"State Marine Technical University of St. Petersburg","ror":"https://ror.org/03spdpm68","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210141538"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Anton A. Zhilenkov","raw_affiliation_strings":["Department of Marine Electronics, State Marine Technical University, St. Petersburg 198262, Russia"],"affiliations":[{"raw_affiliation_string":"Department of Marine Electronics, State Marine Technical University, St. Petersburg 198262, Russia","institution_ids":["https://openalex.org/I4210141538"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018267168","display_name":"A.Yu. Krasnov","orcid":"https://orcid.org/0000-0001-6026-6706"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksandr Y. Krasnov","raw_affiliation_strings":["Faculty of Control Systems and Robotics, ITMO University, St. Petersburg 197101, Russia"],"affiliations":[{"raw_affiliation_string":"Faculty of Control Systems and Robotics, ITMO University, St. Petersburg 197101, Russia","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067265290","display_name":"Sergei Chernyi","orcid":"https://orcid.org/0000-0001-5702-3260"},"institutions":[{"id":"https://openalex.org/I4210118311","display_name":"Admiral Makarov State University of Maritime and Inland Shipping","ror":"https://ror.org/02xh9a707","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210118311"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sergei Chernyi","raw_affiliation_strings":["Department of Integrated Information Security, Admiral Makarov State University of Maritime and Inland Shipping, St. Petersburg 198035, Russia"],"affiliations":[{"raw_affiliation_string":"Department of Integrated Information Security, Admiral Makarov State University of Maritime and Inland Shipping, St. Petersburg 198035, Russia","institution_ids":["https://openalex.org/I4210118311"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5060426096"],"corresponding_institution_ids":["https://openalex.org/I173089394"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":1.545,"has_fulltext":true,"cited_by_count":35,"citation_normalized_percentile":{"value":0.81312137,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"11","issue":"6","first_page":"310","last_page":"310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9916999936103821,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9603999853134155,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.780141294002533},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6147599220275879},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6147258281707764},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.598434567451477},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5772005319595337},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5379477143287659},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4986989498138428},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.4895058870315552},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48587578535079956},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4647929072380066},{"id":"https://openalex.org/keywords/q-learning","display_name":"Q-learning","score":0.4479234218597412},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4268602430820465},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38106751441955566},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3525654673576355},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3441396653652191}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.780141294002533},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6147599220275879},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6147258281707764},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.598434567451477},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5772005319595337},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5379477143287659},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4986989498138428},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.4895058870315552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48587578535079956},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4647929072380066},{"id":"https://openalex.org/C188116033","wikidata":"https://www.wikidata.org/wiki/Q2664563","display_name":"Q-learning","level":3,"score":0.4479234218597412},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4268602430820465},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38106751441955566},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3525654673576355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3441396653652191},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/info11060310","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info11060310","pdf_url":"https://www.mdpi.com/2078-2489/11/6/310/pdf?version=1593403409","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5b4afef7841542ee831f02ad35d4e1f9","is_oa":true,"landing_page_url":"https://doaj.org/article/5b4afef7841542ee831f02ad35d4e1f9","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Information, Vol 11, Iss 6, p 310 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2078-2489/11/6/310/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/info11060310","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Information","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/info11060310","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info11060310","pdf_url":"https://www.mdpi.com/2078-2489/11/6/310/pdf?version=1593403409","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3032958018.pdf","grobid_xml":"https://content.openalex.org/works/W3032958018.grobid-xml"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W2003552054","https://openalex.org/W2121615981","https://openalex.org/W2201581102","https://openalex.org/W2746553466","https://openalex.org/W2775361682","https://openalex.org/W2790411084","https://openalex.org/W2901112449","https://openalex.org/W2964248288","https://openalex.org/W2967429195","https://openalex.org/W2972151450","https://openalex.org/W3004777436","https://openalex.org/W3017047220","https://openalex.org/W3019573818"],"related_works":["https://openalex.org/W2074966081","https://openalex.org/W2176100605","https://openalex.org/W3096874164","https://openalex.org/W2166117066","https://openalex.org/W2357975469","https://openalex.org/W2136202932","https://openalex.org/W3087814763","https://openalex.org/W2361647908","https://openalex.org/W2937181779","https://openalex.org/W2537866915"],"abstract_inverted_index":{"The":[0],"cable-driven":[1],"soft":[2,8,35,61,147],"arm":[3,24],"is":[4,11,93,106,109,133],"mostly":[5],"made":[6],"of":[7,16,59,65,85,145],"material;":[9],"it":[10,132],"difficult":[12],"to":[13,33,53,75,95,115,127],"control":[14,27,51,57,66,99,102,121,144],"because":[15],"the":[17,21,34,43,48,55,63,83,96,112,128,138,143,146,155],"material":[18],"characteristics,":[19],"so":[20],"traditional":[22,156],"robot":[23,36,98,148],"modeling":[25,45],"and":[26,79,87,124],"methods":[28],"cannot":[29],"be":[30],"directly":[31],"applied":[32,94,126],"arm.":[37],"In":[38,73],"this":[39],"paper,":[40],"we":[41],"combine":[42],"data-driven":[44],"method":[46,52,64,105,139],"with":[47],"reinforcement":[49,91],"learning":[50,92,104],"realize":[54],"position":[56],"task":[58],"robotic":[60],"arm,":[62,149],"strategy":[67,103,122],"based":[68,110],"on":[69,111],"deep":[70,90],"Q":[71],"learning.":[72],"order":[74],"solve":[76],"slow":[77],"convergence":[78],"unstable":[80],"effect":[81],"in":[82],"process":[84],"simulation":[86,118],"migration":[88],"when":[89],"actual":[97],"task,":[100],"a":[101,117],"designed,":[107],"which":[108,150],"experimental":[113],"data,":[114],"establish":[116],"environment":[119],"for":[120],"training,":[123],"then":[125],"real":[129],"environment.":[130],"Finally,":[131],"proved":[134],"by":[135],"experiment":[136],"that":[137],"can":[140],"effectively":[141],"complete":[142],"has":[151],"better":[152],"robustness":[153],"than":[154],"method.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}