منابع مشابه
Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning
Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to-weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design pr...
متن کاملControl of pneumatic robot arm dynamics by a neural network
The trajectory control of a pneumatically driven robot arm resembing a skeletal muscle system is studied. The arm dynamics have been shown to be hysteretic and signiicantly changing in time due to external innuences (Hesselroth et al., IEEE Systems, Man and Cybernetics, in press) thus requiring an adaptive controller. A highly adaptive feedback algorithm is suggested and shown to control accura...
متن کاملReinforcement Learning of a Pneumatic Robot Arm Controller
We applied Reinforcement Learning (RL) on a real robot arm actuated by two pneumatic artificial muscles that expose a highly nonlinear behaviour. To facilitate learning, we developed an empirical model based on real robot observations. Using the learned simulation model, reinforcement learning was able to quickly learn good robot controllers.
متن کاملNeural Network Control of a Pneumatic Robot Arm
A neural map algorithm has been employed to control a five-joint pneumatic robot arm and gripper through feedback from two video cameras. The pneumatically driven robot arm (SoftArm) employed in this investigation shares essential mechanical characteristics with skeletal muscle systems. To control the position of the arm, 200 neurons formed a network representing the three-dimensional workspace...
متن کاملSoft Robot Arm Inspired by the Octopus
The octopus is a marine animal whose body has no rigid structures. It has eight arms composed of a peculiar muscular structure, named a muscular hydrostat. The octopus arms provide it with both locomotion and grasping capabilities, thanks to the fact that their stiffness can change over a wide range and can be controlled through combined contractions of the muscles. The muscular hydrostat can b...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2015
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.33.664