Local Models for Data Driven Inverse Kinematics of Soft Robots

Publikation: Bidrag til bog/antologi/rapport › Konferencebidrag i proceedings › Forskning › fagfællebedømt

Standard

Local Models for Data Driven Inverse Kinematics of Soft Robots. / Holsten, Fredrik Dalland; Darkner, Sune; Engell-Nørregård, Morten Pol ; Erleben, Kenny.

Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters. red. / Melina Skouras. The Eurographics Association, 2018.

Publikation: Bidrag til bog/antologi/rapport › Konferencebidrag i proceedings › Forskning › fagfællebedømt

Harvard

Holsten, FD, Darkner, S, Engell-Nørregård, MP & Erleben, K 2018, Local Models for Data Driven Inverse Kinematics of Soft Robots. i M Skouras (red.), Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters. The Eurographics Association, 167h ACM SIGGRAPH / Eurographics Symposium on Computer Animation, Paris, Frankrig, 11/07/2018. https://doi.org/10.2312/sca.20181186

APA

Holsten, F. D., Darkner, S., Engell-Nørregård, M. P., & Erleben, K. (2018). Local Models for Data Driven Inverse Kinematics of Soft Robots. I M. Skouras (red.), Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters The Eurographics Association. https://doi.org/10.2312/sca.20181186

Vancouver

Holsten FD, Darkner S, Engell-Nørregård MP, Erleben K. Local Models for Data Driven Inverse Kinematics of Soft Robots. I Skouras M, red., Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters. The Eurographics Association. 2018 https://doi.org/10.2312/sca.20181186

Author

Holsten, Fredrik Dalland ; Darkner, Sune ; Engell-Nørregård, Morten Pol ; Erleben, Kenny. / Local Models for Data Driven Inverse Kinematics of Soft Robots. Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters. red. / Melina Skouras. The Eurographics Association, 2018.

Bibtex

@inproceedings{cb728af3b42c4ccfac8dbce1337ff93a,
title = "Local Models for Data Driven Inverse Kinematics of Soft Robots",
abstract = "Soft robots are attractive because they have the potential of being safer, faster and cheaper than traditional rigid robots. If we can predict the shape of a soft robot for a given set of control parameters, then we can solve the inverse problem: to find an optimal set of control parameters for a given shape. This work takes a data-driven approach to create multiple local inverse models. This has two benefits: (1) We overcome the reality gap and (2) we gain performance and naive parallelism from using local models. Furthermore, we empirically prove that our approach outperforms a higher order global model",
author = "Holsten, {Fredrik Dalland} and Sune Darkner and Engell-N{\o}rreg{\aa}rd, {Morten Pol} and Kenny Erleben",
year = "2018",
doi = "10.2312/sca.20181186",
language = "English",
isbn = "978-3-03868-070-3",
editor = "Melina Skouras",
booktitle = "Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters",
publisher = "The Eurographics Association",
note = "167h ACM SIGGRAPH / Eurographics Symposium on Computer Animation : SCA-18 ; Conference date: 11-07-2018 Through 13-07-2018",

}

RIS

TY - GEN

T1 - Local Models for Data Driven Inverse Kinematics of Soft Robots

AU - Holsten, Fredrik Dalland

AU - Darkner, Sune

AU - Engell-Nørregård, Morten Pol

AU - Erleben, Kenny

PY - 2018

Y1 - 2018

N2 - Soft robots are attractive because they have the potential of being safer, faster and cheaper than traditional rigid robots. If we can predict the shape of a soft robot for a given set of control parameters, then we can solve the inverse problem: to find an optimal set of control parameters for a given shape. This work takes a data-driven approach to create multiple local inverse models. This has two benefits: (1) We overcome the reality gap and (2) we gain performance and naive parallelism from using local models. Furthermore, we empirically prove that our approach outperforms a higher order global model

AB - Soft robots are attractive because they have the potential of being safer, faster and cheaper than traditional rigid robots. If we can predict the shape of a soft robot for a given set of control parameters, then we can solve the inverse problem: to find an optimal set of control parameters for a given shape. This work takes a data-driven approach to create multiple local inverse models. This has two benefits: (1) We overcome the reality gap and (2) we gain performance and naive parallelism from using local models. Furthermore, we empirically prove that our approach outperforms a higher order global model

U2 - 10.2312/sca.20181186

DO - 10.2312/sca.20181186

M3 - Article in proceedings

SN - 978-3-03868-070-3

BT - Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters

A2 - Skouras, Melina

PB - The Eurographics Association

T2 - 167h ACM SIGGRAPH / Eurographics Symposium on Computer Animation

Y2 - 11 July 2018 through 13 July 2018

ER -

ID: 200144015