{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T15:57:30Z","timestamp":1781107050125,"version":"3.54.1"},"reference-count":36,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Robotics and Autonomous Systems"],"published-print":{"date-parts":[[2026,9]]},"DOI":"10.1016\/j.robot.2026.105526","type":"journal-article","created":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T16:06:50Z","timestamp":1778602010000},"page":"105526","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["A learning-guided approach to enhance inverse kinematics for hyper-redundant manipulators"],"prefix":"10.1016","volume":"203","author":[{"given":"Hongyang","family":"Zhang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuting","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1158-1587","authenticated-orcid":false,"given":"Yuanlong","family":"Xie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hu","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Youmin","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sheng Quan","family":"Xie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shiqi","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"1","key":"10.1016\/j.robot.2026.105526_b1","doi-asserted-by":"crossref","first-page":"659","DOI":"10.1109\/TMECH.2023.3289871","article-title":"A variable-stiffness planning method considering both the overall configuration and cable tension for hyper-redundant manipulators","volume":"29","author":"Zhang","year":"2024","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"10.1016\/j.robot.2026.105526_b2","doi-asserted-by":"crossref","DOI":"10.1016\/j.mechmachtheory.2023.105562","article-title":"Design, self-calibration and compliance control of modular cable-driven snake-like manipulators","volume":"193","author":"Chen","year":"2024","journal-title":"Mech. Mach. Theory"},{"issue":"3","key":"10.1016\/j.robot.2026.105526_b3","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1109\/MRA.2021.3111832","article-title":"A cable-driven hyperredundant manipulator: Obstacle-avoidance path planning and tension optimization","volume":"29","author":"Xu","year":"2022","journal-title":"IEEE Robot. Autom. Mag."},{"key":"10.1016\/j.robot.2026.105526_b4","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2025.104989","article-title":"Multi-criteria-based inverse kinematics control for cable-driven hyper-redundant manipulator with virtual repulsion and quasi-ridge regression","volume":"190","author":"Huang","year":"2025","journal-title":"Robot. Auton. Syst."},{"issue":"2","key":"10.1016\/j.robot.2026.105526_b5","doi-asserted-by":"crossref","first-page":"402","DOI":"10.1016\/j.cja.2022.03.001","article-title":"Workspace, stiffness analysis and design optimization of coupled active-passive multilink cable-driven space robots for on-orbit services","volume":"36","author":"Peng","year":"2023","journal-title":"Chin. J. Aeronaut."},{"key":"10.1016\/j.robot.2026.105526_b6","first-page":"1","article-title":"Design and compensation control of modular variable stiffness continuum manipulator for nasal surgery","volume":"73","author":"Wei","year":"2024","journal-title":"IEEE Trans. Instrum. Meas."},{"issue":"11","key":"10.1016\/j.robot.2026.105526_b7","doi-asserted-by":"crossref","first-page":"483","DOI":"10.1016\/j.cja.2023.03.028","article-title":"Development of a cable-driven redundant space manipulator with large bending angle by combining quaternion joints and segmented coupled linkages mechanism","volume":"36","author":"Yang","year":"2023","journal-title":"Chin. J. Aeronaut."},{"issue":"6","key":"10.1016\/j.robot.2026.105526_b8","doi-asserted-by":"crossref","first-page":"4928","DOI":"10.1109\/TAES.2022.3217746","article-title":"Hyper-redundant manipulators for operations in confined space: Typical applications, key technologies, and grand challenges","volume":"58","author":"Mu","year":"2022","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"1","key":"10.1016\/j.robot.2026.105526_b9","doi-asserted-by":"crossref","first-page":"238","DOI":"10.1109\/TSMC.2024.3464737","article-title":"A kinematics method of hyper-redundant manipulators based on morphologic space constraints","volume":"55","author":"Xu","year":"2025","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"4","key":"10.1016\/j.robot.2026.105526_b10","doi-asserted-by":"crossref","first-page":"2177","DOI":"10.1109\/TCYB.2021.3111204","article-title":"A punishment mechanism-combined recurrent neural network to solve motion-planning problem of redundant robot manipulators","volume":"53","author":"Zhang","year":"2023","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.robot.2026.105526_b11","doi-asserted-by":"crossref","DOI":"10.1016\/j.mechmachtheory.2020.104062","article-title":"End-effector pose and arm-shape synchronous planning methods of a hyper-redundant manipulator for spacecraft repairing","volume":"155","author":"Peng","year":"2021","journal-title":"Mech. Mach. Theory"},{"key":"10.1016\/j.robot.2026.105526_b12","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2024.104820","article-title":"Differential kinematics of a single-point-suspended manipulator with center-of-mass shift compensation","volume":"183","author":"Huang","year":"2025","journal-title":"Robot. Auton. Syst."},{"issue":"4","key":"10.1016\/j.robot.2026.105526_b13","doi-asserted-by":"crossref","first-page":"1782","DOI":"10.1109\/TMECH.2021.3077914","article-title":"Modified configuration control with potential field for inverse kinematic solution of redundant manipulator","volume":"26","author":"Kim","year":"2021","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"issue":"12","key":"10.1016\/j.robot.2026.105526_b14","doi-asserted-by":"crossref","first-page":"8014","DOI":"10.1109\/TII.2021.3060019","article-title":"A modified DLS scheme with controlled cyclic solution for inverse kinematics in redundant robots","volume":"17","author":"Safeea","year":"2021","journal-title":"IEEE Trans. Ind. Inf."},{"issue":"9","key":"10.1016\/j.robot.2026.105526_b15","doi-asserted-by":"crossref","first-page":"5775","DOI":"10.1109\/LRA.2023.3300207","article-title":"Fast inverse kinematics based on pseudo-forward dynamics computation: Application to musculoskeletal inverse kinematics","volume":"8","author":"Ayusawa","year":"2023","journal-title":"IEEE Robotics Autom. Lett."},{"key":"10.1016\/j.robot.2026.105526_b16","doi-asserted-by":"crossref","first-page":"2274","DOI":"10.1109\/ACCESS.2023.3234104","article-title":"A deep learning approach to navigating the joint solution space of redundant inverse kinematics and its applications to numerical IK computations","volume":"11","author":"Ho","year":"2023","journal-title":"IEEE Access"},{"key":"10.1016\/j.robot.2026.105526_b17","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2025.105102","article-title":"Machine learning-based inverse kinematics scalability for prismatic tensegrity structural manipulators","volume":"193","author":"Shakerimov","year":"2025","journal-title":"Robot. Auton. Syst."},{"issue":"8","key":"10.1016\/j.robot.2026.105526_b18","doi-asserted-by":"crossref","first-page":"5253","DOI":"10.1109\/TII.2021.3125447","article-title":"A general framework of motion planning for redundant robot manipulator based on deep reinforcement learning","volume":"18","author":"Li","year":"2022","journal-title":"IEEE Trans. Ind. Inf."},{"key":"10.1016\/j.robot.2026.105526_b19","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2025.105142","article-title":"Analytical inverse kinematic solution for the redundant 7-DoF manipulator","volume":"194","author":"Wang","year":"2025","journal-title":"Robot. Auton. Syst."},{"issue":"11","key":"10.1016\/j.robot.2026.105526_b20","doi-asserted-by":"crossref","first-page":"7679","DOI":"10.1109\/LRA.2023.3322078","article-title":"CIDGIKc: Distance-geometric inverse kinematics for continuum robots","volume":"8","author":"Zhang","year":"2023","journal-title":"IEEE Robotics Autom. Lett."},{"key":"10.1016\/j.robot.2026.105526_b21","doi-asserted-by":"crossref","DOI":"10.1115\/1.4054206","article-title":"Design, modeling, and kinematics analysis of a modular cable-driven manipulator","volume":"14","author":"Ju","year":"2022","journal-title":"J. Mech. Robotics"},{"key":"10.1016\/j.robot.2026.105526_b22","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1016\/j.actaastro.2017.06.015","article-title":"A modified modal method for solving the mission-oriented inverse kinematics of hyper-redundant space manipulators for on-orbit servicing","volume":"139","author":"Xu","year":"2017","journal-title":"Acta Astronaut."},{"issue":"6","key":"10.1016\/j.robot.2026.105526_b23","doi-asserted-by":"crossref","first-page":"4475","DOI":"10.1109\/TMECH.2022.3157382","article-title":"A combined planning method based on biarc curve and B\u00e9zier curve for concentric cable-driven manipulators working in confined environments","volume":"27","author":"Mu","year":"2022","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"10.1016\/j.robot.2026.105526_b24","series-title":"Int. Conf. Mechatron. Autom.","first-page":"1774","article-title":"Kinematics solution of snake-like manipulator based on improved backbone mode method","author":"Wang","year":"2020"},{"key":"10.1016\/j.robot.2026.105526_b25","doi-asserted-by":"crossref","DOI":"10.1016\/j.mechmachtheory.2023.105406","article-title":"Dexterous obstacle-avoidance motion control of rope driven snake manipulator based on the bionic path following","volume":"189","author":"Gu","year":"2023","journal-title":"Mech. Mach. Theory"},{"issue":"3","key":"10.1016\/j.robot.2026.105526_b26","doi-asserted-by":"crossref","first-page":"1822","DOI":"10.1109\/TSMC.2024.3517533","article-title":"A spatial triarc planning method for configuration optimization of concentric cable-driven manipulators","volume":"55","author":"Mu","year":"2025","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"5","key":"10.1016\/j.robot.2026.105526_b27","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1016\/j.gmod.2011.05.003","article-title":"FABRIK: A fast, iterative solver for the inverse kinematics problem","volume":"73","author":"Aristidou","year":"2011","journal-title":"Graph. Models"},{"issue":"2","key":"10.1016\/j.robot.2026.105526_b28","doi-asserted-by":"crossref","first-page":"1595","DOI":"10.1109\/TII.2024.3485766","article-title":"Tokamak O&M robot dynamic control by using optimized FABRIK and spatial partition strategies in digital twin system","volume":"21","author":"Lv","year":"2025","journal-title":"IEEE Trans. Ind. Inf."},{"issue":"3","key":"10.1016\/j.robot.2026.105526_b29","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1007\/s10846-022-01672-7","article-title":"CRRIK: A fast heuristic algorithm for the inverse kinematics of continuum robot","volume":"105","author":"Wu","year":"2022","journal-title":"J. Intell. Robot. Syst."},{"issue":"9\u201310","key":"10.1016\/j.robot.2026.105526_b30","doi-asserted-by":"crossref","first-page":"4883","DOI":"10.1007\/s00170-023-12928-3","article-title":"A hybrid method using FABRIK and custom ANN in solving inverse kinematic for generic serial robot manipulator","volume":"130","author":"Bai","year":"2024","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"10.1016\/j.robot.2026.105526_b31","doi-asserted-by":"crossref","first-page":"208836","DOI":"10.1109\/ACCESS.2020.3038424","article-title":"M-FABRIK: A new inverse kinematics approach to mobile manipulator robots based on FABRIK","volume":"8","author":"Santos","year":"2020","journal-title":"IEEE Access"},{"issue":"4","key":"10.1016\/j.robot.2026.105526_b32","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1007\/s10846-023-01895-2","article-title":"A combined inverse kinematics algorithm using FABRIK with optimization","volume":"108","author":"Zichun","year":"2023","journal-title":"J. Intell. Robot. Syst."},{"issue":"6","key":"10.1016\/j.robot.2026.105526_b33","doi-asserted-by":"crossref","first-page":"1900","DOI":"10.1002\/rob.22362","article-title":"An improved inverse kinematics solution method for the hyper-redundant manipulator with end-link pose constraint","volume":"41","author":"Wang","year":"2024","journal-title":"J. Field Robotics"},{"issue":"12","key":"10.1016\/j.robot.2026.105526_b34","doi-asserted-by":"crossref","first-page":"2952","DOI":"10.1007\/s11431-022-2179-9","article-title":"A novel obstacle avoidance heuristic algorithm of continuum robot based on FABRIK","volume":"65","author":"Wu","year":"2022","journal-title":"Sci. China Technol. Sci."},{"issue":"7","key":"10.1016\/j.robot.2026.105526_b35","doi-asserted-by":"crossref","first-page":"4233","DOI":"10.1109\/TSMC.2021.3095152","article-title":"Efficient inverse kinematics and planning of a hybrid active and passive cable-driven segmented manipulator","volume":"52","author":"Liu","year":"2022","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"key":"10.1016\/j.robot.2026.105526_b36","doi-asserted-by":"crossref","DOI":"10.1016\/j.mechmachtheory.2023.105374","article-title":"Task priority based design optimization of a kinematic redundant robot","volume":"187","author":"Ginnante","year":"2023","journal-title":"Mech. Mach. Theory"}],"container-title":["Robotics and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026001995?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026001995?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T15:02:15Z","timestamp":1781103735000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0921889026001995"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9]]},"references-count":36,"alternative-id":["S0921889026001995"],"URL":"https:\/\/doi.org\/10.1016\/j.robot.2026.105526","relation":{},"ISSN":["0921-8890"],"issn-type":[{"value":"0921-8890","type":"print"}],"subject":[],"published":{"date-parts":[[2026,9]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"A learning-guided approach to enhance inverse kinematics for hyper-redundant manipulators","name":"articletitle","label":"Article Title"},{"value":"Robotics and Autonomous Systems","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.robot.2026.105526","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"105526"}}