PROBOSCIdean Sensitive soft robot for versatile gripping

Part of EU Open Research Repository
Published February 2025 | Version v1
Journal article Open

Learning controllers for continuum soft manipulators: Impact of modeling and looming challenges

Creators

  • 1. ROR icon Scuola Superiore Sant'Anna
  • 2. ROR icon National University of Singapore
  • 3. Scuola Superiore Sant'anna - Polo Sant'Anna Valdera
  • 4. ROR icon Italian Institute of Technology

Description

In this article, the key features of popular forward models, including geometrical, pseudo-rigid, continuum mechanical, or learned, are first summarized. Then, a unique characterization of learning-based policies, emphasizing the impact of forward models on the control problem and how the state of the art evolves, is offered. This leads to the presented perspectives outlining current challenges and future research trends for machine-learning applications within soft robotics.

Files

2024 - Learning Controllers for Continuum Soft Manipulators_ Impact of Modeling and Looming Challenges - AIS.pdf

Files (2.1 MB)

Additional details

Funding

European Commission
PROBOSCIS – Proboscidean sensitive soft robot for versatile gripping 863212
Fondazione Pisa
SHARE-CP CUP J83C24000530007