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Vision-based Online Learning Kinematic Control for Soft Robots using Local Gaussian Process Regression

Ge Fang, Xiaomei Wang, Kui Wang, Kit-Hang Lee, Justin Di-Lang Ho, Hing Choi Fu, Kin Chung Denny Fu, Ka-Wai Kwok
2019 IEEE Robotics and Automation Letters  
Index Terms-Eye-in-hand visual-servo, Learning-based control, Local Gaussian process regression, Soft robot control.  ...  Local Gaussian process regression (GPR) is used to initialize and refine the inverse mappings online, without prior knowledge of robot and camera parameters.  ...  Vision-based Online Learning Kinematic Control for Soft Robots using Local Gaussian Process Regression In this paper, we propose an adaptive eye-in-hand visual servo control framework based on local online  ... 
doi:10.1109/lra.2019.2893691 fatcat:cifzcd3xwbc77drnd3viekjmai

A Survey for Machine Learning-Based Control of Continuum Robots

Xiaomei Wang, Yingqi Li, Ka-Wai Kwok
2021 Frontiers in Robotics and AI  
In this article, we attempt to overview the current state of kinematic/dynamic model-free control schemes for continuum manipulators, particularly by learning-based means, and discuss their similarities  ...  To this end, data-driven modeling strategies making use of machine learning algorithms would be an encouraging way out for the control of soft continuum robots.  ...  Figure 3 describes the pipeline of reinforcement learning algorithms in soft manipulator control.  ... 
doi:10.3389/frobt.2021.730330 pmid:34692777 pmcid:PMC8527450 fatcat:p4yeo5jqajfhphzsdbiu746swa

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA Oct. 2020 6772-6779 Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties.  ...  Sasaki, H., +, LRA July 2020 4533-4540 Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Table of Contents

2021 IEEE Robotics and Automation Letters  
Nejat 1793 Lightweight 3-D Localization and Mapping for Solid-State LiDAR . 2745 Self-Supervised Learning of Domain-Invariant Local Features for Robust Visual Localization Under Challenging Conditions  ...  Tadokoro 3073 FEM-Based Gain-Scheduling Control of a Soft Trunk Robot .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . K. Wu and G.  ... 
doi:10.1109/lra.2021.3072707 fatcat:qyphyzqxfrgg7dxdol4qamrdqu

Table of Contents

2022 IEEE transactions on industrial electronics (1982. Print)  
Merzouki A Simultaneous Learning and Control Scheme for Redundant Manipulators With Physical Constraints on Decision Variable and Its Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Yan Parametric PH Curves Model Based Kinematic Control of the Shape of Mobile Soft Manipulators in Unstructured Environment . . . . . . . . . . . . . . . . . . . . . . . . . S. Mbakop, G. Tagne, S.  ... 
doi:10.1109/tie.2022.3171155 fatcat:frmcc3zr2bggxpp43mzvmofupy

Table of Contents

2021 IEEE Robotics and Automation Letters  
Pacchierotti 4859 An Overall Configuration Planning Method of Continuum Hyper-Redundant Manipulators Based on Improved ArtificialPotential Field Method .. . . . . . . . . . . . . . . . . . . . . . .  ...  Righetti 4766 Tracking Control of a Miniature 2-DOF Manipulator With Hydrogel Actuators .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2021.3095987 fatcat:uyk6vlvv45hifbzj4ruzdi6w54

Table of Contents

2020 IEEE Robotics and Automation Letters  
Asada 2177 Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Barfoot 1429 A Probabilistic Model-Based Online Learning Optimal Control Algorithm for Soft Pneumatic Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2020.2987582 fatcat:3qafzip5xrg5jliyngq4xxvjha

Model-Based FDI Schemes For Robot Manipulators Using Soft Computing Techniques [chapter]

Tolga Yuksel, Abdullah Sezgi
2010 Fault Detection  
FDI Schemes For Robot Manipulators Using Soft Computing Techniques 143 Computed Torque control is a special application of feedback linearization of nonlinear systems to robotics.  ...  Robot manipulator used in the simulations is a two-link planar manipulator under gravity and masses of the links are defined at the end of the links (Lewis et al., 1993) .  ...  Model-Based FDI Schemes For Robot Manipulators Using Soft Computing Techniques, Fault Detection, Wei Zhang (Ed.), ISBN: 978-953-307-037-7, InTech, Available from: http://www.intechopen.com/books/fault-detection  ... 
doi:10.5772/9071 fatcat:ndl7j6hn2feufggyhchmelenim

2021 Index IEEE Transactions on Robotics Vol. 37

2021 IEEE Transactions on robotics  
The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  Note that the item title is found only under the primary entry in the Author Index.  ...  Predictive End-Effector Control of Manipulators on Moving Platforms Under Disturbance. Woolfrey, J., +, TRO Dec. 2021 2210-2217 Toward Orientation Learning and Adaptation in Cartesian Space.  ... 
doi:10.1109/tro.2022.3141270 fatcat:wbcpmrap6ndprec2gtu7m2yhmy

Design, Control, and Applications of a Soft Robotic Arm [article]

Hao Jiang, Zhanchi Wang, Yusong Jin, Xiaotong Chen, Peijin Li, Yinghao Gan, Sen Lin, Xiaoping Chen
2020 arXiv   pre-print
In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under which we present a novel structure named Honeycomb Pneumatic  ...  This paper presents the design, control, and applications of a multi-segment soft robotic arm.  ...  Funding This research is supported by the National Natural Science Foundation of China under grant 61573333.  ... 
arXiv:2007.04047v1 fatcat:nzefed5r6fcgnnywb6rhqx2wa4

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, Based Active Safe Control of a Variable Stiffness Soft Actuator.  ...  ., +, LRA July 2019 2691-2698 Vision-Based Online Learning Kinematic Control for Soft Robots Using Local Gaussian Process Regression.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

Table of contents

2006 Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.  
On Redundant Flagged Manipulators .  ...  Murray Adaptive Observer for the Calibration of the Force-Moment Sensor of a Space Robot . . 1667 Kourosh Parsa, Farhad Aghili Optical Torque Sensors for Implementation of Local Impedance Control  ...  A New Motion Control Hardware Architecture with FPGA-Based IC Design for Robotic Manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/robot.2006.1641151 fatcat:f5zhr6x7trhazlcmsvfdhkpqm4

Soft Robotics as an Enabling Technology for Agroforestry Practice and Research

Girish Chowdhary, Mattia Gazzola, Girish Krishnan, Chinmay Soman, Sarah Lovell
2019 Sustainability  
However, current soft robotic arms are difficult to design and control, slow to actuate, and have limited payloads.  ...  The shortage of qualified human labor is a key challenge facing farmers, limiting profit margins and preventing the adoption of sustainable and diversified agroecosystems, such as agroforestry.  ...  Closed loop control, coupled with online policy adaptation based on the feedback, could significantly improve the tracking performance.  ... 
doi:10.3390/su11236751 fatcat:awwqdn2iargxxcwyixb6rgd6hi

2018 Index IEEE/ASME Transactions on Mechatronics Vol. 23

2018 IEEE/ASME transactions on mechatronics  
., +, TMECH April 2018 690-701 Manipulators A DMPs-Based Framework for Robot Learning and Generalization of Hu- manlike Variable Impedance Skills.  ...  ., +, TMECH Dec. 2018 2587-2598 Online Reconfiguration of a Variable-Stiffness Actuator.  ...  1981 -1992 Improved NO and NO2 Concentration Estimation for a Diesel-Engine-Aftertreatment System. Zhang, H., +, TMECH Feb. 2018 190-199  ... 
doi:10.1109/tmech.2019.2893551 fatcat:ds4rb6mpw5bnbbbrdn25n3oh6m

Review on generic methods for mechanical modeling, simulation and control of soft robots

Pierre Schegg, Christian Duriez, Matteo Cianchetti
2022 PLoS ONE  
In this review paper, we are interested in the models and algorithms that allow generic simulation and control of a soft robot.  ...  Moreover, we refer to dynamic control algorithms based on mechanical models, allowing for robust control of the positioning of the robot.  ...  Indeed it is the authors' belief that those methods allow to bridge the gap between rigid and soft robots, thus allowing to use common robotic tools, such as inverse models, kinematic and dynamic control  ... 
doi:10.1371/journal.pone.0251059 pmid:35030170 pmcid:PMC8759680 fatcat:igsjjyai2befdne4jgiuxfqlzy
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