Journal article Open Access

Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators

Thuruthel, Thomas George; Falotico, Egidio; Renda, Federico; Laschi, Cecilia


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{
  "description": "<p>Dynamic control of soft robotic manipulators is an open problem yet to be well explored and analyzed. Most of the current applications of soft robotic manipulators utilize static or quasi-dynamic controllers based on kinematic models or linearity in the joint space. However, such approaches are not truly exploiting the rich dynamics of a soft-bodied system. In this paper, we present a model-based policy learning algorithm for closed-loop predictive control of a soft robotic manipulator. The forward dynamic model is represented using a recurrent neural network. The closed-loop policy is derived using trajectory optimization and supervised learning. The approach is verified first on a simulated piecewise constant strain model of a cable driven under-actuated soft manipulator. Furthermore, we experimentally demonstrate on a soft pneumatically actuated manipulator how closed-loop control policies can be derived that can accommodate variable frequency control and unmodeled external loads.</p>", 
  "license": "https://creativecommons.org/licenses/by/4.0/legalcode", 
  "creator": [
    {
      "affiliation": "BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy", 
      "@type": "Person", 
      "name": "Thuruthel, Thomas George"
    }, 
    {
      "affiliation": "BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy", 
      "@type": "Person", 
      "name": "Falotico, Egidio"
    }, 
    {
      "affiliation": "Department of Mechanical Engineering and the Center for Autonomous Robotics Systems, Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates", 
      "@type": "Person", 
      "name": "Renda, Federico"
    }, 
    {
      "affiliation": "BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy", 
      "@type": "Person", 
      "name": "Laschi, Cecilia"
    }
  ], 
  "headline": "Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators", 
  "image": "https://zenodo.org/static/img/logos/zenodo-gradient-round.svg", 
  "datePublished": "2018-11-12", 
  "url": "https://zenodo.org/record/3759636", 
  "@context": "https://schema.org/", 
  "identifier": "https://doi.org/10.1109/TRO.2018.2878318", 
  "@id": "https://doi.org/10.1109/TRO.2018.2878318", 
  "@type": "ScholarlyArticle", 
  "name": "Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators"
}
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