A Study on Position Control of a Continuum Arm Using MAML (Model-Agnostic Meta-Learning) for Adapting Different Loading Conditions

Predicting tip positions of a spring based continuum manipulator is highly challenging due to its nonlinear deformations. External loading on the tip further deteriorates the accuracy. Model-less control strategies have shown great success in the tip positioning. However, they require a large amount...

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Veröffentlicht in:	IEEE access Jg. 10; S. 14980 - 14992
Hauptverfasser:	Sahoo, Alok Ranjan, Chakraborty, Pavan
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Actuators Adaptation models Algorithms Closed loops Continuum robot Controllers Errors Experimentation Kinematics Learning Loading Manipulators meta learning Model accuracy model-less control Prototypes Robot arms Robots Stiffness Task analysis
ISSN:	2169-3536, 2169-3536
Online-Zugang:	Volltext
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