A Recurrent Neural-Network-Based Real-Time Dynamic Model for Soft Continuum Manipulators

A Recurrent Neural-Network-Based Real-Time Dynamic Model for Soft Continuum Manipulators

This paper introduces and validates a real-time dynamic predictive model based on a neural network approach for soft continuum manipulators. The presented model provides a real-time prediction framework using neural-network-based strategies and continuum mechanics principles. A time-space integratio...

Full description

Bibliographic Details
Main Authors: Abbas Tariverdi, Venkatasubramanian Kalpathy Venkiteswaran, Michiel Richter, Ole J. Elle, Jim Tørresen, Kim Mathiassen, Sarthak Misra, Ørjan G. Martinsen
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-03-01
Series:Frontiers in Robotics and AI
Subjects:
continuum manipulators
soft robotics
dynamic models
Cosserat rod theory
Lie group variational integration
recurrent neural network
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.631303/full

Internet

https://www.frontiersin.org/articles/10.3389/frobt.2021.631303/full

Similar Items