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Morphological computation-based control of a modular, pneumatically driven, soft robotic arm

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Morphological computation-based control of a modular, pneumatically driven, soft robotic arm. / Eder, M.; Hisch, F.; Hauser, H.

In: Advanced Robotics, 24.11.2017.

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@article{f7a5878695a6466d9eb867bb9ca98c9f,
title = "Morphological computation-based control of a modular, pneumatically driven, soft robotic arm",
abstract = "The dynamics of soft robotic bodies are typically complex and exhibit nonlinearities and a high-dimensional state space. As a result, such systems are difficult to model and, therefore, hard to control. In this work, we use a model-free approach by employing the concept of morphological computation, which understands the complexity of the dynamics of such bodies as potential computational resources that can be exploited, for example, for control. The validity of this approach has been previously demonstrated in a number of simulations as well on a number of simple soft robotic platforms. However, this work takes the approach a significant step further by implementing it on a highly complex pneumatically driven robotic arm consisting of multiple modular segments, bringing the morphological computation-based control approach closer to real industrial applications. We demonstrate that various oval shaped end point trajectories can be learned and be reproduced consistently in a remarkably robust fashion. The presented morphological computation setup needs no model of the highly complex robot. Moreover, by exploiting the seemingly unbeneficial complex dynamics as a computational resource, the learning task to implement a nonlinear and dynamic control can be reduced to simple linear regression.",
keywords = "compliant robot arm, embodiment, model-free control, Morphological computation, soft robotics",
author = "M. Eder and F. Hisch and H. Hauser",
year = "2017",
month = "11",
day = "24",
doi = "10.1080/01691864.2017.1402703",
language = "English",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor & Francis Group",

}

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TY - JOUR

T1 - Morphological computation-based control of a modular, pneumatically driven, soft robotic arm

AU - Eder, M.

AU - Hisch, F.

AU - Hauser, H.

PY - 2017/11/24

Y1 - 2017/11/24

N2 - The dynamics of soft robotic bodies are typically complex and exhibit nonlinearities and a high-dimensional state space. As a result, such systems are difficult to model and, therefore, hard to control. In this work, we use a model-free approach by employing the concept of morphological computation, which understands the complexity of the dynamics of such bodies as potential computational resources that can be exploited, for example, for control. The validity of this approach has been previously demonstrated in a number of simulations as well on a number of simple soft robotic platforms. However, this work takes the approach a significant step further by implementing it on a highly complex pneumatically driven robotic arm consisting of multiple modular segments, bringing the morphological computation-based control approach closer to real industrial applications. We demonstrate that various oval shaped end point trajectories can be learned and be reproduced consistently in a remarkably robust fashion. The presented morphological computation setup needs no model of the highly complex robot. Moreover, by exploiting the seemingly unbeneficial complex dynamics as a computational resource, the learning task to implement a nonlinear and dynamic control can be reduced to simple linear regression.

AB - The dynamics of soft robotic bodies are typically complex and exhibit nonlinearities and a high-dimensional state space. As a result, such systems are difficult to model and, therefore, hard to control. In this work, we use a model-free approach by employing the concept of morphological computation, which understands the complexity of the dynamics of such bodies as potential computational resources that can be exploited, for example, for control. The validity of this approach has been previously demonstrated in a number of simulations as well on a number of simple soft robotic platforms. However, this work takes the approach a significant step further by implementing it on a highly complex pneumatically driven robotic arm consisting of multiple modular segments, bringing the morphological computation-based control approach closer to real industrial applications. We demonstrate that various oval shaped end point trajectories can be learned and be reproduced consistently in a remarkably robust fashion. The presented morphological computation setup needs no model of the highly complex robot. Moreover, by exploiting the seemingly unbeneficial complex dynamics as a computational resource, the learning task to implement a nonlinear and dynamic control can be reduced to simple linear regression.

KW - compliant robot arm

KW - embodiment

KW - model-free control

KW - Morphological computation

KW - soft robotics

UR - http://www.scopus.com/inward/record.url?scp=85034822420&partnerID=8YFLogxK

U2 - 10.1080/01691864.2017.1402703

DO - 10.1080/01691864.2017.1402703

M3 - Article

JO - Advanced Robotics

JF - Advanced Robotics

SN - 0169-1864

ER -