Publication

Learning the Stiffness of a Continuous Soft Manipulator from Multiple Demonstrations

2015
Book Chapters

Abstract

Continuous soft robots are becoming more and more widespread in applications, due to their increased safety and flexibility in critical applications. The possibility of having soft robots that are able to change their stiffness in selected parts can help in situations where higher forces need to be applied. This paper describes a theoretical framework for learning the desired stiffness characteristics of the robot from multiple demonstrations. The framework is based on a statistical mathematical model for encoding the motion of a continuous manipulator, coupled with an optimal control strategy for learning the best impedance parameters of the manipulator.

Official source

https://infoscience.epfl.ch/entities/publication/96c9b484-2ea1-4c72-b3d9-183b4a56e4f6

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2015
Book Chapters

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/96c9b484-2ea1-4c72-b3d9-183b4a56e4f6

About this result

Related concepts (32)

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

Robot

A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

Soft robotics

Soft robotics is a subfield of robotics that concerns the design, control, and fabrication of robots composed of compliant materials, instead of rigid links. In contrast to rigid-bodied robots built from metals, ceramics and hard plastics, the compliance of soft robots can improve their safety when working in close contact with humans. The goal of soft robotics is the design and construction of robots with physically flexible bodies and electronics. Sometimes softness is limited to part of the machine.

Related publications (32)

Learning the Stiffness of a Continuous Soft Manipulator from Multiple Demonstrations

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