Local Models for Data Driven Inverse Kinematics of Soft Robots

Publikation: Bidrag til bog/antologi/rapportKonferencebidrag i proceedingsForskningfagfællebedømt

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
OriginalsprogEngelsk
TitelEurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters
RedaktørerMelina Skouras
Antal sider1
ForlagThe Eurographics Association
Publikationsdato2018
ISBN (Trykt)978-3-03868-070-3
DOI
StatusUdgivet - 2018
Begivenhed167h ACM SIGGRAPH / Eurographics Symposium on Computer Animation: SCA-18 - Paris, Frankrig
Varighed: 11 jul. 201813 jul. 2018

Konference

Konference167h ACM SIGGRAPH / Eurographics Symposium on Computer Animation
LandFrankrig
ByParis
Periode11/07/201813/07/2018

ID: 200144015