Local Models for Data Driven Inverse Kinematics of Soft Robots

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. Eurographics Proceedingsc 2018 The Eurographics Association.

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. Eurographics Proceedingsc 2018 The Eurographics Association.

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 -