Static Shape Control of Soft Continuum Robots Using Deep Visual Inverse Kinematic Models

Soft continuum robots are highly flexible and adaptable, making them ideal for unstructured environments such as the human body and agriculture. However, their high compliance and maneuverability make them difficult to model, sense, and control. Current control strategies focus on Cartesian space co...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 39; no. 4; pp. 1 - 16
Main Authors:	Almanzor, Elijah, Ye, Fan, Shi, Jialei, Thuruthel, Thomas George, Wurdemann, Helge A., Iida, Fumiya
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.08.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuators Artificial neural networks Closed loops Computational modeling End effectors Feedback Inverse kinematics Kinematics Machine learning Medical robotics Robot control robot kinematics robot learning Robot sensing systems Robots Robust control Shape Shape control soft robotics Task analysis
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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