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Behavior switching by using reservoir computing for a soft robotic arm


Li, Tao; Nakajima, Kohei; Cianchetti, Matteo; Laschi, Cecilia; Pfeifer, Rolf (2012). Behavior switching by using reservoir computing for a soft robotic arm. In: 2012 IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA, 14 May 2012 - 18 May 2012, 4918-4924.

Abstract

Soft robots have significant advantages over traditional robots made of rigid materials. However, controlling this type of robot by conventional approaches is difficult. Reservoir computing has been demonstrated to be an effective approach for achieving rapid learning in benchmark tasks and conventional robots. In this study, we investigated the feasibility and capacity of the reservoir computing approach to embedding and switching between multiple behaviors in a on-line manner in a soft robotic arm. The result shows that this approach can successfully achieve this task.

Abstract

Soft robots have significant advantages over traditional robots made of rigid materials. However, controlling this type of robot by conventional approaches is difficult. Reservoir computing has been demonstrated to be an effective approach for achieving rapid learning in benchmark tasks and conventional robots. In this study, we investigated the feasibility and capacity of the reservoir computing approach to embedding and switching between multiple behaviors in a on-line manner in a soft robotic arm. The result shows that this approach can successfully achieve this task.

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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:18 May 2012
Deposited On:17 Jan 2013 13:30
Last Modified:05 Apr 2016 16:17
Publisher:IEEE
ISBN:978-1-4673-1404-6
Related URLs:http://www.icra2012.org/
Other Identification Number:merlin-id:7785

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