Machine Learning for Soft Robotic Sensing and Control. (3rd March 2020)

• Record Type: Journal Article
• Authors: Chin, Keene; Hellebrekers, Tess; Majidi, Carmel
• Is Part Of: Advanced intelligent systems. Volume 2:Number 6(2020)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2020-03-03
• Subjects: control -- machine learning -- neural networks -- sensing -- soft robotics; Artificial intelligence -- Periodicals; Robotics -- Periodicals; Control theory -- Periodicals; 006.3
• DOI: 10.1002/aisy.201900171
• Languages: English
• ISSNs: 2640-4567

Abstract

Abstract : Herein, the progress of machine learning methods in the field of soft robotics, specifically in the applications of sensing and control, is outlined. Data‐driven methods such as machine learning are especially suited to systems with governing functions that are unknown, impractical or impossible to represent analytically, or computationally intractable to integrate into real‐world solutions. Function approximation with careful formulation of the machine learning architecture enables the encoding of dynamic behavior and nonlinearities, with the added potential to address hysteresis and nonstationary behavior. Supervised learning and reinforcement learning in simulation and on a wide variety of physical robotic systems have shown promising results for the use of empirical data‐driven methods as a solution to contemporary soft robotics problems. Abstract : An overview of recent advancements in applying machine learning to the field of soft robotics is provided, with special emphasis on sensing and control. This includes progress in applying a wide range of data‐driven techniques for sensor characterization, feedback control, and state estimation to a variety of soft robotic testbeds.