Wang, H;
George Thuruthel, T;
Gilday, K;
Abdulali, A;
Iida, F;
(2022)
Machine Learning for Soft Robot Sensing and Control: A Tutorial Study.
In:
Proceedings of the 2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS).
IEEE: Coventry, UK.
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Abstract
Developing feedback controllers for robots with embedded sensors is challenging and typically requires expert knowledge. As machine learning (ML) advances, the development of learning-based controllers has become more and more accessible, even to non-experts. This work presents the development of a tutorial to educate non-roboticists about ML-based sensing and control in cyber-physical systems using a soft robotic device. We demonstrated this by creating a recurrent neural network-based closed-loop force controller for a soft finger with embedded soft sensors. Our hypothesis is validated in a 2.5-hour workshop session for students with no prior knowledge of robot control. This work serves as a tutorial for participants aiming to experience and perform a general benchmark for soft robot control tasks, with little or even no expertise in robotics.
| Type: | Proceedings paper |
|---|---|
| Title: | Machine Learning for Soft Robot Sensing and Control: A Tutorial Study |
| Event: | 2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS) |
| Dates: | 24 May 2022 - 26 May 2022 |
| ISBN-13: | 978-1-6654-9770-1 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/ICPS51978.2022.9816932 |
| Publisher version: | https://doi.org/10.1109/ICPS51978.2022.9816932 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Conferences, Soft sensors, Force, Fingers, Tutorials, Machine learning, Soft robotics |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10159253 |
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