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Modeling of Soft Pneumatic Actuators with Different Orientation Angles Using Echo State Networks for Irregular Time Series Data
| Content Provider | MDPI |
|---|---|
| Author | Youssef, Samuel M. Soliman, Mennaallah Saleh, Mahmood A. Mousa, Mostafa A. Elsamanty, Mahmoud Radwan, Ahmed G. |
| Copyright Year | 2022 |
| Description | Modeling of soft robotics systems proves to be an extremely difficult task, due to the large deformation of the soft materials used to make such robots. Reliable and accurate models are necessary for the control task of these soft robots. In this paper, a data-driven approach using machine learning is presented to model the kinematics of Soft Pneumatic Actuators (SPAs). An Echo State Network (ESN) architecture is used to predict the SPA’s tip position in 3 axes. Initially, data from actual 3D printed SPAs is obtained to build a training dataset for the network. Irregular-intervals pressure inputs are used to drive the SPA in different actuation sequences. The network is then iteratively trained and optimized. The demonstrated method is shown to successfully model the complex non-linear behavior of the SPA, using only the control input without any feedback sensory data as additional input to the network. In addition, the ability of the network to estimate the kinematics of SPAs with different orientation angles |
| Starting Page | 216 |
| e-ISSN | 2072666X |
| DOI | 10.3390/mi13020216 |
| Journal | Micromachines |
| Issue Number | 2 |
| Volume Number | 13 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2022-01-29 |
| Access Restriction | Open |
| Subject Keyword | Micromachines Robotics Echo State Network (esn) Reservoir Computing Recurrent Neural Network (rnn) Long Short-term Memory (lstm) Soft Robotics Soft Pneumatic Actuators (spa) Modeling |
| Content Type | Text |
| Resource Type | Article |
