Color-Based Proprioception of Soft Actuators Interacting With Objects

Actuators using soft materials feature a large number of degrees of freedom. This tremendous flexibility allows a soft actuator to passively adapt its shape to the objects under interaction. In this paper, we propose a novel proprioception method for soft actuators during real-time interaction with...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2019-10, Vol.24 (5), p.1964-1973
Hauptverfasser:	Scharff, Rob B. N., Doornbusch, Rens M., Doubrovski, Eugeni L., Wu, Jun, Geraedts, Jo M. P., Wang, Charlie C. L.
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Bellows Color Color sensor Deformation Image color analysis Neural networks Object recognition pneumatic actuator Proprioception Robot control Robot sensing systems sensor fusion Shape shape prediction Soft robotics Strain
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