{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T15:49:21Z","timestamp":1775144961075,"version":"3.50.1"},"publisher-location":"Singapore","reference-count":43,"publisher":"Springer Nature Singapore","isbn-type":[{"value":"9789819512324","type":"print"},{"value":"9789819512331","type":"electronic"}],"license":[{"start":{"date-parts":[[2025,8,19]],"date-time":"2025-08-19T00:00:00Z","timestamp":1755561600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,8,19]],"date-time":"2025-08-19T00:00:00Z","timestamp":1755561600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026]]},"DOI":"10.1007\/978-981-95-1233-1_35","type":"book-chapter","created":{"date-parts":[[2025,8,22]],"date-time":"2025-08-22T06:05:22Z","timestamp":1755842722000},"page":"385-396","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Position\/Orientation-Based Feedback Control"],"prefix":"10.1007","author":[{"given":"Yi","family":"Tao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,8,19]]},"reference":[{"key":"35_CR1","doi-asserted-by":"crossref","unstructured":"Zhang, Z., Deng, X., He, M., Chen, T., Liang, J.: Runge-Kutta type discrete circadian RNN for resolving tri-criteria optimization scheme of noises perturbed redundant robot manipulators. IEEE Trans. Syst., Man Cybern. Syst. 52(3), 1405\u20131416 (2022)","DOI":"10.1109\/TSMC.2020.3020145"},{"key":"35_CR2","doi-asserted-by":"crossref","unstructured":"Su, X., Chen, X., Lv, X.: Toward kinematic control for redundant manipulators with flexibility optimization. In: Proceedings of the IEEE 5th World Conference on Mechanical Engineering and Intelligent Manufacturing, pp. 868\u2013871. IEEE Press, New York (2022)","DOI":"10.1109\/WCMEIM56910.2022.10021392"},{"issue":"3","key":"35_CR3","doi-asserted-by":"publisher","first-page":"677","DOI":"10.1109\/TFUZZ.2014.2321771","volume":"23","author":"C-J Kim","year":"2015","unstructured":"Kim, C.-J., Chwa, D.: Obstacle avoidance method for wheeled mobile robots using interval type-2 fuzzy neural network. IEEE Trans. Fuzzy Syst. 23(3), 677\u2013687 (2015)","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"1","key":"35_CR4","doi-asserted-by":"publisher","first-page":"599","DOI":"10.1109\/TRO.2021.3086632","volume":"38","author":"J Hermus","year":"2022","unstructured":"Hermus, J., Lachner, J., Verdi, D., Hogan, N.: Exploiting redundancy to facilitate physical interaction. IEEE Trans. Robot. 38(1), 599\u2013615 (2022)","journal-title":"IEEE Trans. Robot."},{"key":"35_CR5","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2024.3363241","author":"L Jin","year":"2024","unstructured":"Jin, L., Zhao, J., Chen, L., Li, S.: Collective neural dynamics for sparse motion planning of redundant manipulators without Hessian matrix inversion. IEEE Trans. Neural Netw. Learn. Syst. (2024). https:\/\/doi.org\/10.1109\/TNNLS.2024.3363241","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"1","key":"35_CR6","doi-asserted-by":"publisher","first-page":"620","DOI":"10.1109\/TAC.2022.3144135","volume":"68","author":"L Jin","year":"2023","unstructured":"Jin, L., Wei, L., Li, S.: Gradient-based differential neural-solution to time-dependent nonlinear optimization. IEEE Trans. Autom. Control 68(1), 620\u2013627 (2023)","journal-title":"IEEE Trans. Autom. Control"},{"key":"35_CR7","doi-asserted-by":"crossref","unstructured":"Ganin, P., Moskvin, V., Kobrin, A.: Redundant industrial manipulator control system. In: 2017 International Conference on Industrial Engineering. Applications and Manufacturing (ICIEAM), pp. 1\u20136. IEEE Press, New York (2017)","DOI":"10.1109\/ICIEAM.2017.8076111"},{"issue":"6","key":"35_CR8","doi-asserted-by":"publisher","first-page":"1261","DOI":"10.1109\/TRO.2015.2489500","volume":"31","author":"J Burgner-Kahrs","year":"2015","unstructured":"Burgner-Kahrs, J., Rucker, D.C., Choset, H.: Continuum robots for medical applications: a survey. IEEE Trans. Robot. 31(6), 1261\u20131280 (2015)","journal-title":"IEEE Trans. Robot."},{"key":"35_CR9","doi-asserted-by":"crossref","unstructured":"Yoshida, K., Hashizume, K., Abiko, S.: Zero reaction maneuver: flight validation with ETS-VII space robot and extension to kinematically redundant arm. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, pp. 441\u2013446. IEEE Press, New York (2001)","DOI":"10.1109\/ROBOT.2001.932590"},{"issue":"12","key":"35_CR10","doi-asserted-by":"publisher","first-page":"11436","DOI":"10.1109\/TMC.2024.3397242","volume":"23","author":"M Liu","year":"2024","unstructured":"Liu, M., Li, Y., Chen, Y., Qi, Y., Jin, L.: A distributed competitive and collaborative coordination for multirobot systems. IEEE Trans. Mobile Comput. 23(12), 11436\u201311448 (2024)","journal-title":"IEEE Trans. Mobile Comput."},{"issue":"4","key":"35_CR11","doi-asserted-by":"publisher","first-page":"3866","DOI":"10.1109\/TNSE.2024.3389741","volume":"11","author":"M Liu","year":"2024","unstructured":"Liu, M., Zhang, J., Xiao, X., Jin, L.: Opinion dynamics considering Matthew effect under switching topology in social networks. IEEE Trans. Netw. Sci. Eng. 11(4), 3866\u20133875 (2024)","journal-title":"IEEE Trans. Netw. Sci. Eng."},{"issue":"8","key":"35_CR12","doi-asserted-by":"publisher","first-page":"1452","DOI":"10.1109\/JAS.2022.105731","volume":"9","author":"M Liu","year":"2022","unstructured":"Liu, M., Zhang, X., Shang, M., Jin, L.: Gradient-based differential kWTA network with application to competitive coordination of multiple robots. IEEE\/CAA J. Autom. Sinica 9(8), 1452\u20131463 (2022)","journal-title":"IEEE\/CAA J. Autom. Sinica"},{"issue":"4","key":"35_CR13","doi-asserted-by":"publisher","first-page":"2005","DOI":"10.1109\/TFUZZ.2023.3339654","volume":"32","author":"L Jin","year":"2024","unstructured":"Jin, L., Li, Y., Zhang, X., Luo, X.: Fuzzy k-winner-take-all network for competitive coordination in multirobot systems. IEEE Trans. Fuzzy Syst. 32(4), 2005\u20132016 (2024)","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"35_CR14","volume-title":"Neural dynamics for time-varying problems","author":"L Jin","year":"2024","unstructured":"Jin, L., Wei, L., Lv, X.: Neural dynamics for time-varying problems. Springer, Cham (2024)"},{"issue":"3","key":"35_CR15","doi-asserted-by":"publisher","first-page":"1589","DOI":"10.1109\/TFUZZ.2023.3328545","volume":"32","author":"Z Xie","year":"2024","unstructured":"Xie, Z., Jin, L.: A fuzzy neural controller for model-free control of redundant manipulators with unknown kinematic parameters. IEEE Trans. Fuzzy Syst. 32(3), 1589\u20131601 (2024)","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"3","key":"35_CR16","doi-asserted-by":"publisher","first-page":"2856","DOI":"10.1109\/TASE.2023.3270344","volume":"21","author":"L Jin","year":"2024","unstructured":"Jin, L., Zhang, J., Qi, Y., Li, S.: New distributed consensus schemes with time delays and output saturation. IEEE Trans. Autom. Sci. Eng. 21(3), 2856\u20132867 (2024)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"4","key":"35_CR17","doi-asserted-by":"publisher","first-page":"2156","DOI":"10.1109\/TNNLS.2021.3106044","volume":"34","author":"M Liu","year":"2023","unstructured":"Liu, M., Chen, L., Du, X., Jin, L., Shang, M.: Activated gradients for deep neural networks. IEEE Trans. Neural Netw. Learn. Syst. 34(4), 2156\u20132168 (2023)","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"35_CR18","doi-asserted-by":"crossref","unstructured":"Zhang, Z., Chen, S., Xie, J., Yang, S.: Two hybrid multiobjective motion planning schemes synthesized by recurrent neural networks for wheeled mobile robot manipulators. IEEE Trans. Syst., Man Cybern. Syst. 51(5), 3270\u20133281 (2021)","DOI":"10.1109\/TSMC.2019.2920778"},{"key":"35_CR19","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2024.3497304","author":"Z Xie","year":"2024","unstructured":"Xie, Z., Jin, L., Lv, X.: A hierarchical control and learning network for redundant manipulators with unknown physical parameters. IEEE Trans. Ind. Electron. (2024). https:\/\/doi.org\/10.1109\/TIE.2024.3497304","journal-title":"IEEE Trans. Ind. Electron."},{"key":"35_CR20","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2024.3488775","author":"Z Xie","year":"2024","unstructured":"Xie, Z., Liu, M., Su, Z., Sun, Z., Jin, L.: A data-driven obstacle avoidance scheme for redundant robots with unknown structures. IEEE Trans. Ind. Informat. (2024). https:\/\/doi.org\/10.1109\/TII.2024.3488775","journal-title":"IEEE Trans. Ind. Informat."},{"issue":"3","key":"35_CR21","doi-asserted-by":"publisher","first-page":"3574","DOI":"10.1109\/TII.2023.3308330","volume":"20","author":"L Jin","year":"2024","unstructured":"Jin, L., Chen, Y., Liu, M.: A noise-tolerant k-WTA model with its application on multirobot system. IEEE Trans. Ind. Informat. 20(3), 3574\u20133584 (2024)","journal-title":"IEEE Trans. Ind. Informat."},{"issue":"12","key":"35_CR22","doi-asserted-by":"publisher","first-page":"17571","DOI":"10.1109\/TNNLS.2023.3306374","volume":"35","author":"L Jin","year":"2024","unstructured":"Jin, L., Su, Z., Fu, D., Xiao, X.: Coevolutionary neural solution for nonconvex optimization with noise tolerance. IEEE Trans. Neural Netw. Learn. Syst. 35(12), 17571\u201317581 (2024)","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"4","key":"35_CR23","doi-asserted-by":"publisher","first-page":"3887","DOI":"10.1109\/TIE.2021.3073305","volume":"69","author":"Z Xu","year":"2022","unstructured":"Xu, Z., Zhou, X., Wu, H., Li, X., Li, S.: Motion planning of manipulators for simultaneous obstacle avoidance and target tracking: an RNN approach with guaranteed performance. IEEE Trans. Ind. Electron. 69(4), 3887\u20133897 (2022)","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"2","key":"35_CR24","doi-asserted-by":"publisher","first-page":"3089","DOI":"10.1109\/LRA.2021.3062296","volume":"6","author":"C Mucchiani","year":"2021","unstructured":"Mucchiani, C., Yim, M.: Dynamic grasping for object picking using passive zero-DOF end-effectors. IEEE Robot. Autom. Lett. 6(2), 3089\u20133096 (2021)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"35_CR25","doi-asserted-by":"crossref","unstructured":"Li, W.: Design and analysis of a novel finite-time convergent and noisetolerant recurrent neural network for time-variant matrix inversion. IEEE Trans. Syst. Man Cybern. Syst. 50(11), 4362\u20134376 (2020)","DOI":"10.1109\/TSMC.2018.2853598"},{"issue":"2","key":"35_CR26","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1109\/TMECH.2002.1011251","volume":"7","author":"J Baeten","year":"2002","unstructured":"Baeten, J., De Schutter, J.: Hybrid vision\/force control at corners in planar robotic-contour following. IEEE\/ASME Trans. Mechatronics 7(2), 143\u2013151 (2002)","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"35_CR27","doi-asserted-by":"crossref","unstructured":"Yang, M., Zhang, Y., Zhang, Z., Hu, H.: 6-step discrete ZNN model for repetitive motion control of redundant manipulator. IEEE Trans. Syst. Man Cybern. Syst. 52(8), 4969\u20134980 (2022)","DOI":"10.1109\/TSMC.2021.3107898"},{"issue":"12","key":"35_CR28","doi-asserted-by":"publisher","first-page":"4194","DOI":"10.1109\/TCYB.2018.2859751","volume":"49","author":"YY Zhang","year":"2019","unstructured":"Zhang, Y.Y., Li, S., Kadry, S., Liao, B.: Recurrent neural network for kinematic control of redundant manipulators with periodic input disturbance and physical constraints. IEEE Trans. Cybern. 49(12), 4194\u20134205 (2019)","journal-title":"IEEE Trans. Cybern."},{"issue":"2","key":"35_CR29","doi-asserted-by":"publisher","first-page":"465","DOI":"10.1109\/TCST.2010.2042450","volume":"19","author":"IA Raptis","year":"2011","unstructured":"Raptis, I.A., Valavanis, K.P., Moreno, W.A.: A novel nonlinear backstepping controller design for helicopters using the rotation matrix. IEEE Trans. Control Syst. Technol. 19(2), 465\u2013473 (2011)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"35_CR30","doi-asserted-by":"crossref","unstructured":"Zeng, Z., Wang, J., Liao, X.: Stability analysis of delayed cellular neural networks described using cloning templates. IEEE Trans. Circuits Syst. I Reg. Papers 51(11), 2313\u20132324 (2004)","DOI":"10.1109\/TCSI.2004.836855"},{"key":"35_CR31","doi-asserted-by":"crossref","unstructured":"Zeng, Z., Wang, J.: Design and analysis of high-capacity associative memories based on a class of discrete-time recurrent neural networks. IEEE Trans. Syst. Man Cybern. B. Cybern. 38(6), 1525\u20131536 (2008)","DOI":"10.1109\/TSMCB.2008.927717"},{"key":"35_CR32","doi-asserted-by":"crossref","unstructured":"Chen, C., Trivedi, M.M.: Transformation relationships for two commonly utilized Euler angle representations. IEEE Trans. Syst. Man Cybern. Syst. 22(3), 555\u2013559 (1992)","DOI":"10.1109\/21.155956"},{"issue":"2","key":"35_CR33","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1109\/70.760350","volume":"15","author":"F Caccavale","year":"1999","unstructured":"Caccavale, F., Natale, C., Siciliano, B., Villani, L.: Six-DOF impedance control based on angle\/axis representations. IEEE Trans. Robot. Autom. 15(2), 289\u2013300 (1999)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"35_CR34","unstructured":"Spong, M.W., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control. Wiley, Hoboken (2005)"},{"key":"35_CR35","doi-asserted-by":"crossref","unstructured":"Caccavale, F., Siciliano, B.: Quaternion-based kinematic control of redundant spacecraft\/manipulator systems. In: Proceedings of the IEEE Conference on Robotics and Automation, vol. 1, pp. 435\u2013440. IEEE Press, New York (2001)","DOI":"10.1109\/ROBOT.2001.932589"},{"issue":"4","key":"35_CR36","doi-asserted-by":"publisher","first-page":"5570","DOI":"10.1109\/TASE.2023.3313564","volume":"21","author":"Z Xie","year":"2024","unstructured":"Xie, Z., Li, S., Jin, L.: A bi-criteria kinematic strategy for motion\/force control of robotic manipulator. IEEE Trans. Autom. Sci. Eng. 21(4), 5570\u20135582 (2024)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"8","key":"35_CR37","doi-asserted-by":"publisher","first-page":"2481","DOI":"10.1109\/TAC.2017.2771154","volume":"63","author":"SS Saab","year":"2018","unstructured":"Saab, S.S., Ghanem, P.: A multivariable stochastic tracking controller for robot manipulators without joint velocities. IEEE Trans. Autom. Control 63(8), 2481\u20132495 (2018)","journal-title":"IEEE Trans. Autom. Control"},{"key":"35_CR38","doi-asserted-by":"crossref","unstructured":"Li, Z., Liao, B., Xu, F., Guo, D.: A new repetitive motion planning scheme with noise suppression capability for redundant robot manipulators. IEEE Trans. Syst. Man Cybern. Syst. 50(12), 5244\u20135254 (2020)","DOI":"10.1109\/TSMC.2018.2870523"},{"issue":"10","key":"35_CR39","doi-asserted-by":"publisher","first-page":"2243","DOI":"10.1109\/TNNLS.2016.2574363","volume":"28","author":"S Li","year":"2017","unstructured":"Li, S., Zhang, Y., Jin, L.: Kinematic control of redundant manipulators using neural networks. IEEE Trans. Neural Netw. Learn. Syst. 28(10), 2243\u20132254 (2017)","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"35_CR40","doi-asserted-by":"crossref","unstructured":"Zeng, Z., Wang, J., Liao, X.: Global exponential stability of a general class of recurrent neural networks with time-varying delays. IEEE Trans. Circuits Syst. I Fundam. Theory Appl. 50(10), 1353\u20131358 (2003)","DOI":"10.1109\/TCSI.2003.817760"},{"key":"35_CR41","doi-asserted-by":"crossref","unstructured":"Xie, Z., Jin, L.: Hybrid control of orientation and position for redundant manipulators using neural network. IEEE Trans. Syst. Man Cybern. Syst. 53(5), 2737\u20132747 (2023)","DOI":"10.1109\/TSMC.2022.3218788"},{"key":"35_CR42","unstructured":"Khalil, H.K.: Nonlinear Systems, 3rd edn. Prentice-Hall, Englewood Cliffs (2001)"},{"issue":"4","key":"35_CR43","doi-asserted-by":"publisher","first-page":"4147","DOI":"10.1109\/LRA.2019.2931248","volume":"4","author":"C Gaz","year":"2019","unstructured":"Gaz, C., Cognetti, M., Oliva, A., Giordano, P.R., De Luca, A.: Dynamic identification of the Franka Emika Panda robot with retrieval of feasible parameters using penalty-based optimization. IEEE Robot. Autom. Lett. 4(4), 4147\u20134154 (2019)","journal-title":"IEEE Robot. Autom. Lett."}],"container-title":["Lecture Notes in Computer Science","Advances in Neural Networks \u2013 ISNN 2025"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-981-95-1233-1_35","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T14:52:14Z","timestamp":1775141534000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-981-95-1233-1_35"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,8,19]]},"ISBN":["9789819512324","9789819512331"],"references-count":43,"URL":"https:\/\/doi.org\/10.1007\/978-981-95-1233-1_35","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,8,19]]},"assertion":[{"value":"19 August 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ISNN","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Symposium on Neural Networks","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Zhangye","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"China","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2025","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22 August 2025","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"24 August 2025","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"19","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"isnn2025","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/conference.cs.cityu.edu.hk\/isnn\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}