title: Learning the inverse kinetics of an octopus-like manipulator in three-dimensional space.
abstract: This work addresses the inverse kinematics problem of a bioinspired octopus-like manipulator moving in three-dimensional space. The bioinspired manipulator has a conical soft structure that confers the ability of twirling around objects as a real octopus arm does. Despite the simple design, the soft conical shape manipulator driven by cables is described by nonlinear differential equations, which are difficult to solve analytically. Since exact solutions of the equations are not available, the Jacobian matrix cannot be calculated analytically and the classical iterative methods cannot be used. To overcome the intrinsic problems of methods based on the Jacobian matrix, this paper proposes a neural network learning the inverse kinematics of a soft octopus-like manipulator driven by cables. After the learning phase, a feed-forward neural network is able to represent the relation between manipulator tip positions and forces applied to the cables. Experimental results show that a desired tip position can be achieved in a short time, since heavy computations are avoided, with a degree of accuracy of 8% relative average error with respect to the total arm length.
authors.affiliation: Research Centre on Sea Technologies and Marine Robotics, The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.
authors.forename: M
authors.initials: M
authors.lastname: Giorelli
authors.forename: F
authors.initials: F
authors.lastname: Renda
authors.forename: M
authors.initials: M
authors.lastname: Calisti
authors.forename: A
authors.initials: A
authors.lastname: Arienti
authors.forename: G
authors.initials: G
authors.lastname: Ferri
authors.forename: C
authors.initials: C
authors.lastname: Laschi
mesh_terms: D000818:Animals; D032701:Biomimetics / Q000379:methods*; D017076:Computer-Aided Design; D005121:Extremities / Q000502:physiology*; D007700:Kinetics; D008954:Models, Biological; D009038:Motion; D049831:Octopodiformes / Q000502:physiology*; D012371:Robotics / Q000379:methods*