Reinhart, Felix; Steil, Jochen J.: Hybrid Mechanical and Data-driven Modeling Improves Inverse Kinematic Control of a Soft Robot. 2016
Inhalt
- Bionic Handling Assistant (BHA)
- Constant curvature model of the forward kinematics
- Differential inverse kinematics
- Error of the constant curvature kinematic model
- Data-driven and hybrid forward models
- Linear models and Extreme Learning Machines
- Learning of pure data-driven models and error models
- Generalization of the learned models
- Inverse kinematics with a hybrid forward model
- Conclusion