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Timing-based control via echo state network for soft robotic arm


Kuwabara, Junichi; Nakajima, Kohei; Kang, Rongjie; Branson, David T; Guglielmino, Emanuele; Caldwell, Darwin G; Pfeifer, Rolf (2012). Timing-based control via echo state network for soft robotic arm. In: IEEE-INNS International Joint Conference on Neural Networks (IJCNN 2012), Australia, 10 June 2012 - 15 June 2012, 1-8.

Abstract

Soft robots are difficult to control because of their compliant and elastic body dynamics compared with robots made of rigid bodies. In this paper, we present a control scheme inspired by the octopus called timing-based control for soft robotic arms. This control scheme is motivated to positively exploit the natural dynamics of the soft body. We demonstrate a scheme for controlling an object-reaching task by using an echo state network on a 3D physical soft robotic arm simulator and show that this network can successfully perform the task. Detailed analyses and evaluations of the generalization capacity of the network and the performances to the reaching task are presented.

Soft robots are difficult to control because of their compliant and elastic body dynamics compared with robots made of rigid bodies. In this paper, we present a control scheme inspired by the octopus called timing-based control for soft robotic arms. This control scheme is motivated to positively exploit the natural dynamics of the soft body. We demonstrate a scheme for controlling an object-reaching task by using an echo state network on a 3D physical soft robotic arm simulator and show that this network can successfully perform the task. Detailed analyses and evaluations of the generalization capacity of the network and the performances to the reaching task are presented.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:15 June 2012
Deposited On:13 Feb 2013 12:04
Last Modified:05 Apr 2016 16:30
Publisher:IEEE
ISBN:978-1-4673-1489-3
Publisher DOI:https://doi.org/10.1109/IJCNN.2012.6252774
Other Identification Number:merlin-id:7852
Permanent URL: https://doi.org/10.5167/uzh-73582

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