Learning Global Inverse Statics Solution for a Redundant Soft Robot

Thomas George Thuruthel (1) , Egidio Falotico (1) , Matteo Cianchetti (1) , Federico Renda (2) , Cecilia Laschi (1)

1 The BioRobotics Institute
2 Khalifa University for Science Technology [Abou Dabi]

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.

Mots clés: Soft Robots; Machine Learning; Inverse Statics; Inverse Dynamics; Steady State Model; Neural Networks

Domaines: Automatique / Robotique

Thomas George Thuruthel, Egidio Falotico, Matteo Cianchetti, Federico Renda, Cecilia Laschi. Learning Global Inverse Statics Solution for a Redundant Soft Robot. Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics, Jul 2016, Lisbon, Portugal. pp.303 - 310, ⟨10.5220/0005979403030310⟩. ⟨hal-01393574⟩