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Learning a curvature dynamic model of an octopus-inspired soft robot arm using flexure sensors

Author
Organization
Project
  • AMARSI (Adaptive modular architecture for rich motor skills)
Abstract
This work presents a novel technique for sensing body dynamics for a soft-robot arm inspired by the octopus, using flexure sensors. The aim is to develop a sensing technique which can also simultaneously enable learning of the body dynamics that can then be used for control. Flexure sensing is advantageous for a soft bodied robot since it is a direct measure of local behaviour along the arm, and is closely connected with the piecewise constant curvature assumption employed for such robots. Initial results on simulated sensor measurements and dynamics learning are presented and ongoing work and applications are discussed.
Keywords
Soft Robotics, Flexure sensing, Biologically Inspired Robotics

Citation

Please use this url to cite or link to this publication:

MLA
Kuppuswamy, Naveen, and Juan Pablo Carbajal. “Learning a Curvature Dynamic Model of an Octopus-Inspired Soft Robot Arm Using Flexure Sensors.” PROCEDIA COMPUTER SCIENCE, edited by Elisabeth Giacobino and Rolf Pfeifer, vol. 7, Elsevier, 2011, pp. 294–96.
APA
Kuppuswamy, N., & Carbajal, J. P. (2011). Learning a curvature dynamic model of an octopus-inspired soft robot arm using flexure sensors. In E. Giacobino & R. Pfeifer (Eds.), PROCEDIA COMPUTER SCIENCE (Vol. 7, pp. 294–296). Budapest, Hungary: Elsevier.
Chicago author-date
Kuppuswamy, Naveen, and Juan Pablo Carbajal. 2011. “Learning a Curvature Dynamic Model of an Octopus-Inspired Soft Robot Arm Using Flexure Sensors.” In PROCEDIA COMPUTER SCIENCE, edited by Elisabeth Giacobino and Rolf Pfeifer, 7:294–96. Elsevier.
Chicago author-date (all authors)
Kuppuswamy, Naveen, and Juan Pablo Carbajal. 2011. “Learning a Curvature Dynamic Model of an Octopus-Inspired Soft Robot Arm Using Flexure Sensors.” In PROCEDIA COMPUTER SCIENCE, ed by. Elisabeth Giacobino and Rolf Pfeifer, 7:294–296. Elsevier.
Vancouver
1.
Kuppuswamy N, Carbajal JP. Learning a curvature dynamic model of an octopus-inspired soft robot arm using flexure sensors. In: Giacobino E, Pfeifer R, editors. PROCEDIA COMPUTER SCIENCE. Elsevier; 2011. p. 294–6.
IEEE
[1]
N. Kuppuswamy and J. P. Carbajal, “Learning a curvature dynamic model of an octopus-inspired soft robot arm using flexure sensors,” in PROCEDIA COMPUTER SCIENCE, Budapest, Hungary, 2011, vol. 7, pp. 294–296.
@inproceedings{4172503,
  abstract     = {This work presents a novel technique for sensing body dynamics for a soft-robot arm inspired by the octopus, using flexure sensors. The aim is to develop a sensing technique which can also simultaneously enable learning of the body dynamics that can then be used for control. Flexure sensing is advantageous for a soft bodied robot since it is a direct measure of local behaviour along the arm, and is closely connected with the piecewise constant curvature assumption employed for such robots. Initial results on simulated sensor measurements and dynamics learning are presented and ongoing work and applications are discussed.},
  author       = {Kuppuswamy, Naveen and Carbajal, Juan Pablo},
  booktitle    = {PROCEDIA COMPUTER SCIENCE},
  editor       = {Giacobino, Elisabeth and Pfeifer, Rolf},
  issn         = {1877-0509},
  keywords     = {Soft Robotics,Flexure sensing,Biologically Inspired Robotics},
  language     = {eng},
  location     = {Budapest, Hungary},
  pages        = {294--296},
  publisher    = {Elsevier},
  title        = {Learning a curvature dynamic model of an octopus-inspired soft robot arm using flexure sensors},
  url          = {http://dx.doi.org/10.1016/j.procs.2011.09.046},
  volume       = {7},
  year         = {2011},
}

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