Robust control of a silicone soft robot ...

Document type :
Article dans une revue scientifique
DOI :
10.1016/j.isatra.2019.12.004
Title :
Robust control of a silicone soft robot using neural networks
Author(s) :
Zheng, Gang [Auteur] refId
Deformable Robots Simulation Team [DEFROST ]
Zhou, Yuan [Auteur]
Shanghai Jiao Tong University [Shanghai]
Ju, Mingda [Auteur]
Equipes Traitement de l'Information et Systèmes [ETIS - UMR 8051]
Journal title :
ISA Transactions
Pages :
38-45
Publisher :
Elsevier
Publication date :
2020-05
ISSN :
0019-0578
English keyword(s) :
Soft robot
Machine Learning
Robust control
HAL domain(s) :
Informatique [cs]/Robotique [cs.RO]
English abstract : [en]
This paper deals with the robust controller design problem to regulate the position of a soft robot with elastic behavior, driven by 4 cable actuators. In this work, we first used an artificial neural network to approximate ...
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Language :
Anglais
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Non
Collections :
Source :
Harvested from HAL
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