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Vision-based Online Learning Kinematic Control for Soft Robots using Local Gaussian Process Regression
2019
IEEE Robotics and Automation Letters
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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
2021
Frontiers in Robotics and AI
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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. ...
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 ...
2018) and (locally) Gaussian process regression (GPR) (Fang et al., 2019) . ...
doi:10.3389/frobt.2021.730330
pmid:34692777
pmcid:PMC8527450
fatcat:p4yeo5jqajfhphzsdbiu746swa
Review of machine learning methods in soft robotics
2021
PLoS ONE
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followed by a summary of the existing machine learning methods for soft robots. ...
However, compared to rigid robots, soft robots have issues in modeling, calibration, and control in that the innate characteristics of the soft materials can cause complex behaviors due to non-linearity ...
Kim used a Gaussian Process Regression to learn control policy for a simple tripod mobile robot based on membrane vibration actuators [90] . M. ...
doi:10.1371/journal.pone.0246102
pmid:33600496
pmcid:PMC7891779
fatcat:alu4zm72irespj6wydikzjb6ie
2020 Index IEEE Robotics and Automation Letters Vol. 5
2020
IEEE Robotics and Automation Letters
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., +, LRA April 2020 1532-1539 SOLAR-GP: Sparse Online Locally Adaptive Regression Using Gaussian Processes for Bayesian Robot Model Learning and Control. ...
., +, LRA Oct. 2020 5550-5557 SOLAR-GP: Sparse Online Locally Adaptive Regression Using Gaussian Processes for Bayesian Robot Model Learning and Control. ...
doi:10.1109/lra.2020.3032821
fatcat:qrnouccm7jb47ipq6w3erf3cja
Real-time learning of resolved velocity control on a Mitsubishi PA-10
2008
2008 IEEE International Conference on Robotics and Automation
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Learning inverse kinematics has long been fascinating the robot learning community. ...
While this problem can be treated in various ways in offline learning, it poses a serious problem for online learning. ...
Thus, the cost function based approach for the creation of a consistent set of local controllers for operational space control can be based on this insight. ...
doi:10.1109/robot.2008.4543645
dblp:conf/icra/PetersN08
fatcat:i6oyuzxctvgdhnwtq7ivbyhdym
Table of Contents
2019
IEEE Robotics and Automation Letters
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Lenzi 1186 Vision-Based Online Learning Kinematic Control for Soft Robots Using Local Gaussian Process Regression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . G. Fang, X. ...
Kira 1240 IMU-Based Active Safe Control of a Variable Stiffness Soft Actuator
M. Silic and K. ...
doi:10.1109/lra.2019.2910670
fatcat:tkeo6fc4zrczfjfxivpmrrkajy
Artificial Intelligence in Surgery
[article]
2019
arXiv
pre-print
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Artificial Intelligence (AI) is gradually changing the practice of surgery with the advanced technological development of imaging, navigation and robotic intervention. ...
In this article, the recent successful and influential applications of AI in surgery are reviewed from pre-operative planning and intra-operative guidance to the integration of surgical robots. ...
To this end, learning-based depth estimation, visual odometry and Simultaneous Localization and Mapping (SLAM) have been tailored for camera localization and environment mapping with the use of endoscopic ...
arXiv:2001.00627v1
fatcat:dywtv6v36rgf3fummidyluy3zi
Online learning of humanoid robot kinematics under switching tools contexts
2013
2013 IEEE International Conference on Robotics and Automation
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This algorithm can directly provide multi-valued regression in a online fashion, while having, for classic single-valued regression, a performance comparable to state-of-the-art online learning algorithms ...
Using the proposed approach, the robot can dynamically learn how to use different tools, without forgetting the kinematic mappings concerning previously manipulated tools. ...
Among these techniques, there are a few that were very successful at learning the forward kinematics or inverse dynamics of a robot: Gaussian Processes Regression achieves a state of the art performance ...
doi:10.1109/icra.2013.6631263
dblp:conf/icra/JamoneDST13
fatcat:yaiqw5tzhralxntrj2notmzhie
Human-Robot Shared Control for Surgical Robot Based on Context-Aware Sim-to-Real Adaptation
[article]
2022
arXiv
pre-print
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Learning from demonstration (LfD) techniques can be used to automate some of the surgical subtasks for the construction of the shared control mechanism. ...
However, a sufficient amount of data is required for the robot to learn the manoeuvres. Using a surgical simulator to collect data is a less resource-demanding approach. ...
Gaussian Process Regression GPR is a probabilistic supervised machine learning framework that has been proved to be data-efficient and effective for regression [22] . ...
arXiv:2204.11116v1
fatcat:vrojjk7auvh5nokk6aykrd5vne
2019 Index IEEE Robotics and Automation Letters Vol. 4
2019
IEEE Robotics and Automation Letters
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., +, LRA July 2019 2691-2698 Vision-Based Online Learning Kinematic Control for Soft Robots Using Local Gaussian Process Regression. ...
., +, LRA April 2019 1029-1036 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
Learning-based Feedback Controller for Deformable Object Manipulation
[article]
2018
arXiv
pre-print
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Our online policy learning is based on the Gaussian Process Regression (GPR), which can achieve fast and accurate manipulation and is robust to small perturbations. ...
The servo-control is accomplished by learning a feedback controller that determines the robotic end-effector's movement according to the deformable object's current status. ...
For controller parameterization, we first propose a novel nonlinear feedback controller based on Gaussian Process Regression (GPR), which learns the object's deformation behavior online and can accomplish ...
arXiv:1806.09618v2
fatcat:nekes2brfjcere3zz5w4j7ttmi
Table of Contents
2021
IEEE Robotics and Automation Letters
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Wang 2147 Kinematics-Based Control of an Inflatable Soft Wearable Robot for Assisting the Shoulder of Industrial Workers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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
2021
IEEE Robotics and Automation Letters
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Aukes 4774 Slip-Based Autonomous ZUPT Through Gaussian Process to Improve Planetary Rover Localization .
4994Path Planning With Automatic Seam Extraction Over Point Cloud Models for Robotic Arc Welding ...
Li 5642 Structured Prediction for CRiSP Inverse Kinematics Learning With Misspecified Robot Models .
, and M. ...
doi:10.1109/lra.2021.3095987
fatcat:uyk6vlvv45hifbzj4ruzdi6w54
Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations
2008
IEEE Transactions on robotics
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It combines a dynamical system control approach with tools of statistical learning theory and provides a solution to the inverse kinematics problem, when dealing with a redundant manipulator. ...
We present a system for robust robot skill acquisition from kinesthetic demonstrations. ...
TABLE I SUMMARY I OF GAUSSIAN MIXTURE REGRESSION (GMR). ...
doi:10.1109/tro.2008.2006703
fatcat:l5cgjeqttbdffbn6uqq2zg3hpy
Active learning in robotics: A review of control principles
2021
Mechatronics (Oxford)
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Robots must be able to learn efficiently and flexibly through continuous online deployment. ...
Active learning is a decision-making process. In both abstract and physical settings, active learning demands both analysis and action. ...
Acknowledgments We would like to thank Muchen Sun, Ana Pervan, Kyra Rudy, Frank Park, and the anonymous reviewers of the first draft for their many helpful comments on this manuscript. ...
doi:10.1016/j.mechatronics.2021.102576
fatcat:qt47bncznzdtdc7ntpmis5dqw4
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