This paper presents a learning model for obtaining global inverse statics solutions for redundant soft robots. Our motivation begins with the opinion that the inverse statics problem is analogous to the inverse kinematics problem in the case of soft continuum manipulators. A unique inverse statics formulation and data sampling method enables the learning system to circumvent the main roadblocks of the inverting problem. Distinct from previous researches, we have addressed static control of both position and orientation of soft robots. Preliminary tests were conducted on the simulated model of a soft manipulator. The results indicate that learning based approaches could be an effective method for modelling and control of complex soft robots, especially for high dimensional redundant robots.

Learning Global Inverse Statics Solution for a Redundant Soft Robot

LASCHI, Cecilia;RENDA, Federico;CIANCHETTI, Matteo;FALOTICO, Egidio;GEORGE THURUTHEL, THOMAS
2016

Abstract

This paper presents a learning model for obtaining global inverse statics solutions for redundant soft robots. Our motivation begins with the opinion that the inverse statics problem is analogous to the inverse kinematics problem in the case of soft continuum manipulators. A unique inverse statics formulation and data sampling method enables the learning system to circumvent the main roadblocks of the inverting problem. Distinct from previous researches, we have addressed static control of both position and orientation of soft robots. Preliminary tests were conducted on the simulated model of a soft manipulator. The results indicate that learning based approaches could be an effective method for modelling and control of complex soft robots, especially for high dimensional redundant robots.
978-989-758-198-4
978-989-758-198-4
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11382/509105
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