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Online learning technique for behavior switching in a soft robotic arm


Li, Tao; Nakajima, Kohei; Pfeifer, Rolf (2013). Online learning technique for behavior switching in a soft robotic arm. In: ICRA 2013, Karlsruhe, Germany, 6 May 2013 - 10 May 2013, 1296-1302.

Abstract

Soft robots possess several potential advantages over traditional articulated ones and have attracted significant interest in recent years. However, to control this new type of robots using conventional model-based robotic control approaches is generally ineffective. In this paper, we investigate the challenge to embed and switch among multiple behaviors for an octopus-inspired soft robotic arm. An online learning method for reservoir computing is exploited for this task. This online learning method does not require a separate teaching data collection phase; thus, it has the potential to achieve autonomy in soft robots. Our result shows the feasibility of this approach.

Abstract

Soft robots possess several potential advantages over traditional articulated ones and have attracted significant interest in recent years. However, to control this new type of robots using conventional model-based robotic control approaches is generally ineffective. In this paper, we investigate the challenge to embed and switch among multiple behaviors for an octopus-inspired soft robotic arm. An online learning method for reservoir computing is exploited for this task. This online learning method does not require a separate teaching data collection phase; thus, it has the potential to achieve autonomy in soft robots. Our result shows the feasibility of this approach.

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Citations

2 citations in Web of Science®
6 citations in Scopus®
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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:10 May 2013
Deposited On:12 Feb 2014 14:13
Last Modified:09 Aug 2017 07:01
Publisher:Institute of Electrical and Electronics Engineers
Series Name:IEEE International Conference on Robotics and Automation. Proceedings
ISSN:1050-4729
ISBN:978-1-4673-5641-1
Publisher DOI:https://doi.org/10.1109/ICRA.2013.6630738
Other Identification Number:merlin-id:9004

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