Efficient Exploratory Learning of Inverse Kinematics on a Bionic Elephant Trunk
Matthias Rolf,Jochen J. Steil +1 more
172
TL;DR: This work presents an approach to learn the inverse kinematics of the “bionic handling assistant”-an elephant trunk robot, and provides the first functioning control concept for this challenging robot platform.
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Abstract: We present an approach to learn the inverse kinematics of the “bionic handling assistant”—an elephant trunk robot. This task comprises substantial challenges including high dimensionality, restrictive and unknown actuation ranges, and nonstationary system behavior. We use a recent exploration scheme, online goal babbling, which deals with these challenges by bootstrapping and adapting the inverse kinematics on the fly. We show the success of the method in extensive real-world experiments on the nonstationary robot, including a novel combination of learning and traditional feedback control. Simulations further investigate the impact of nonstationary actuation ranges, drifting sensors, and morphological changes. The experiments provide the first substantial quantitative real-world evidence for the success of goal-directed bootstrapping schemes, moreover with the challenge of nonstationary system behavior. We thereby provide the first functioning control concept for this challenging robot platform.
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Citations
Robust Model-Predictive Deformation Control of a Soft Object by Using a Flexible Continuum Robot
Bo Ouyang,Hangjie Mo,Haoyao Chen,Yunhui Liu,Dong Sun +4 more
- 01 Oct 2018
TL;DR: A robust model-predictive deformation control of a soft object using a flexible continuum robot using a prediction horizon-based controller with exponential weighting for model uncertainty is presented.
16
Goal Babbling: a New Concept for Early Sensorimotor Exploration
Matthias Rolf,Jochen J. Steil +1 more
- 01 Jan 2012
TL;DR: This work investigates the learning of reaching skills as an exemplary coordination skill to find motor commands that move the hand, or the robot’s end-effector towards some desired position in space.
14
Inverse kinematics solution for robotic manipulators based on fuzzy logic and PD control
Ali Hussien Mary,Tolgay Kara,Abbas H. Miry +2 more
- 09 May 2016
TL;DR: The proposed method is a closed-loop strategy in which the IKP is restated as a control problem for a dynamic system and the objective is providing a good trajectory tracking performance.
14
General frame for arbitrary 3R subproblems based on the POE model
TL;DR: A general frame for the inverse solution of arbitrary 3R types, without geometric constraints, is presented and can be widely applied in series, reconfigurable, and other types of robots.
13
3rd International Conference on System-integrated Intelligence: New Challenges for Product and Production Engineering, SysInt 2016 Hybrid Mechanical and Data-driven Modeling Improves Inverse Kinematic Control of a Soft Robot
RenFelix Reinhart,Jochen J. Steil +1 more
- 01 Jan 2016
TL;DR: In this paper, a feed-forward control based on inversion of a hybrid forward model comprising a mechanical model and a learned error model was proposed to improve the accuracy of a redundant soft robot with a hybrid model constructed from continuum kinematics together with an e cient neural network error model.
13
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