20 research outputs found
A Novel and Accurate BiLSTM Configuration Controller for Modular Soft Robots with Module Number Adaptability
Modular soft robots have shown higher potential in sophisticated tasks than
single-module robots. However, the modular structure incurs the complexity of
accurate control and necessitates a control strategy specifically for modular
robots. In this paper, we introduce a data collection strategy and a novel and
accurate bidirectional LSTM configuration controller for modular soft robots
with module number adaptability. Such a controller can control module
configurations in robots with different module numbers. Simulation cable-driven
robots and real pneumatic robots have been included in experiments to validate
the proposed approaches, and we have proven that our controller can be
leveraged even with the increase or decrease of module number. This is the
first paper that gets inspiration from the physical structure of modular robots
and utilizes bidirectional LSTM for module number adaptability. Future work may
include a planning method that bridges the task and configuration spaces and
the integration of an online controller.Comment: 10 figures, 4 table