Machine Learning for Soft Robotic Sensing and Control
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- Keene Chin
- Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA 15213 USA
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- Tess Hellebrekers
- Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA 15213 USA
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- Carmel Majidi
- Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA 15213 USA
書誌事項
- 公開日
- 2020-03-03
- 権利情報
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- http://creativecommons.org/licenses/by/4.0/
- DOI
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- 10.1002/aisy.201900171
- 公開者
- Wiley
この論文をさがす
説明
<jats:sec><jats:label/><jats:p>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.</jats:p></jats:sec>
収録刊行物
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- Advanced Intelligent Systems
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Advanced Intelligent Systems 2 (6), 1900171-, 2020-03-03
Wiley