Local Models for Data Driven Inverse Kinematics of Soft Robots
Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
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Local Models for Data Driven Inverse Kinematics of Soft Robots. / Holsten, Fredrik Dalland; Darkner, Sune; Engell-Nørregård, Morten Pol ; Erleben, Kenny.
Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters. ed. / Melina Skouras. The Eurographics Association, 2018.Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
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TY - GEN
T1 - Local Models for Data Driven Inverse Kinematics of Soft Robots
AU - Holsten, Fredrik Dalland
AU - Darkner, Sune
AU - Engell-Nørregård, Morten Pol
AU - Erleben, Kenny
PY - 2018
Y1 - 2018
N2 - 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
AB - 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
U2 - 10.2312/sca.20181186
DO - 10.2312/sca.20181186
M3 - Article in proceedings
SN - 978-3-03868-070-3
BT - Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters
A2 - Skouras, Melina
PB - The Eurographics Association
T2 - 167h ACM SIGGRAPH / Eurographics Symposium on Computer Animation
Y2 - 11 July 2018 through 13 July 2018
ER -
ID: 200144015