Baaij, Thomas und Holkenborg, Marn Klein und Stölzle, Maximilian und van der Tuin, Daan und Naaktgeboren, Jonatan und Babuška, Robert und Della Santina, Cosimo (2022) Learning 3D shape proprioception for continuum soft robots with multiple magnetic sensors. Soft Matter, 19 (1), Seiten 44-56. Royal Society of Chemistry. doi: 10.1039/D2SM00914E. ISSN 1744-683X.
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Offizielle URL: https://dx.doi.org/10.1039/D2SM00914E
Kurzfassung
Sensing the shape of continuum soft robots without obstructing their movements and modifying their natural softness requires innovative solutions. This letter proposes to use magnetic sensors fully integrated into the robot to achieve proprioception. Magnetic sensors are compact, sensitive, and easy to integrate into a soft robot. We also propose a neural architecture to make sense of the highly nonlinear relationship between the perceived intensity of the magnetic field and the shape of the robot. By injecting a priori knowledge from the kinematic model, we obtain an effective yet data-efficient learning strategy. We first demonstrate in simulation the value of this kinematic prior by investigating the proprioception behavior when varying the sensor configuration, which does not require us to re-train the neural network. We validate our approach in experiments involving one soft segment containing a cylindrical magnet and three magnetoresistive sensors. During the experiments, we achieve mean relative errors of 4.5%.
elib-URL des Eintrags: | https://elib.dlr.de/193621/ | ||||||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||||||
Zusätzliche Informationen: | https://www.github.com/tud-cor-sr/promasens | ||||||||||||||||||||||||||||||||
Titel: | Learning 3D shape proprioception for continuum soft robots with multiple magnetic sensors | ||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 30 November 2022 | ||||||||||||||||||||||||||||||||
Erschienen in: | Soft Matter | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||||||
Band: | 19 | ||||||||||||||||||||||||||||||||
DOI: | 10.1039/D2SM00914E | ||||||||||||||||||||||||||||||||
Seitenbereich: | Seiten 44-56 | ||||||||||||||||||||||||||||||||
Verlag: | Royal Society of Chemistry | ||||||||||||||||||||||||||||||||
ISSN: | 1744-683X | ||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||
Stichwörter: | soft robots | ||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 27 Jan 2023 14:46 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 28 Jun 2023 13:36 |
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