Local Models for Data Driven Inverse Kinematics of Soft Robots
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Date
2018
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
Abstract
Soft robots are attractive because they have the potential of being safer, faster and cheaper than traditional rigid robots. If we can predict the shape of a soft robot for a given set of control parameters, then we can solve the inverse problem: to find an optimal set of control parameters for a given shape. This work takes a data-driven approach to create multiple local inverse models. This has two benefits: (1) We overcome the reality gap and (2) we gain performance and naive parallelism from using local models. Furthermore, we empirically prove that our approach outperforms a higher order global model.
Description
@inproceedings{10.2312:sca.20181186,
booktitle = {Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters},
editor = {Skouras, Melina},
title = {{Local Models for Data Driven Inverse Kinematics of Soft Robots}},
author = {Holsten, Fredrik and Darkner, Sune and Engell-Nørregård, Morten P. and Erleben, Kenny},
year = {2018},
publisher = {The Eurographics Association},
ISSN = {1727-5288},
ISBN = {978-3-03868-070-3},
DOI = {10.2312/sca.20181186}
}