Learning Global Inverse Statics Solution for a Redundant Soft Robot

Thomas George Thuruthel, Egidio Falotico, Matteo Cianchetti, Federico Renda, Cecilia Laschi

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.

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Paper Citation


in Harvard Style

Thuruthel T., Falotico E., Cianchetti M., Renda F. and Laschi C. (2016). Learning Global Inverse Statics Solution for a Redundant Soft Robot . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 303-310. DOI: 10.5220/0005979403030310


in Bibtex Style

@conference{icinco16,
author={Thomas George Thuruthel and Egidio Falotico and Matteo Cianchetti and Federico Renda and Cecilia Laschi},
title={Learning Global Inverse Statics Solution for a Redundant Soft Robot},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={303-310},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005979403030310},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Learning Global Inverse Statics Solution for a Redundant Soft Robot
SN - 978-989-758-198-4
AU - Thuruthel T.
AU - Falotico E.
AU - Cianchetti M.
AU - Renda F.
AU - Laschi C.
PY - 2016
SP - 303
EP - 310
DO - 10.5220/0005979403030310