The DOI matches its Crossref record; 5 of the 5 references it cites were found in a registry or an index.
Neural Network and Jacobian Method for Solving the Inverse Statics of a Cable-Driven Soft Arm With Nonconstant Curvature
Open accessAbstract
The solution of the inverse kinematics problem of soft manipulators is essential to generate paths in the task space. The inverse kinematics problem of constant curvature or piecewise constant curvature manipulators has already been solved by using different methods, which include closed-form analytical approaches and iterative methods based on the Jacobian method. On the other hand, the inverse kinematics problem of nonconstant curvature manipulators remains unsolved. This study represents one of the first attempts in this direction. It presents both a model-based method and a supervised learning method to solve the inverse statics of nonconstant curvature soft manipulators. In particular, a Jacobian-based method and a feedforward neural network are chosen and tested experimentally. A comparative analysis has been conducted in terms of accuracy and computational time.
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Cites
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Self-citationForward models: supervised learning with a distal teacher
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An octopus-bioinspired solution to movement and manipulation for soft robots
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“number of hidden neurons was in the range [5]–[7]; therefore, N ∗ H = 6 was the optimum number of hidden neurons for the FNN learning the IS.”
BackgroundSelf-citationLearning to Control in Operational Space
Peters, J., & Schaal, S. (2008) · The International Journal of Robotics Research · doi:10.1177/0278364907087548 · Cited by 162
Cited by
Lee, C., Kim, M., Kim, Y. J., Hong, N., Ryu, S., Kim, H. J., & Kim, S. (2017) · International Journal of Control, Automation and Systems · doi:10.1007/s12555-016-0462-3 · Cited by 616
Soft Robots Modeling: A Structured Overview
Armanini, C., Boyer, F., Mathew, A. T., Duriez, C., & Renda, F. (2023) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3231360 · Cited by 336
Self-citationOctopus-inspired sensorized soft arm for environmental interaction
Xie, Z., Yuan, F., Liu, J., Tian, L., Chen, B., Fu, Z., Mao, S., Jin, T., Wang, Y., He, X., et al. (2023) · Science Robotics · doi:10.1126/scirobotics.adh7852 · Cited by 299
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Metadata
- Authors
- Giorelli, M., Renda, F., Calisti, M., Arienti, A., Ferri, G., & Laschi, C.
- Venue
- IEEE Transactions on Robotics
- Published
- 2015-08
- Volume
- 31
- Issue
- 4
- Pages
- 823-834
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W1499925623
- Cited by
- 219
- References
- 5
- FWCI
- 6.13
- Type
- journal article
- Language
- en
- Open access
- green
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- Giorelli, M., Renda, F., Calisti, M., Arienti, A., Ferri, G., & Laschi, C. (2015). Neural Network and Jacobian Method for Solving the Inverse Statics of a Cable-Driven Soft Arm With Nonconstant Curvature. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2015.2428511
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