Co-Learning of Task and Sensor Placement for Soft Robotics

 

Unlike rigid robots which operate with compact degrees of freedom, soft robots must reason about an infinite dimensional state space. Mapping this continuum state space presents significant challenges, especially when working with a finite set of discrete sensors. Reconstructing the robot’s state from these sparse inputs is challenging, especially since sensor location has a profound downstream impact on the richness of learned models for robotic tasks. In this work, we present a novel representation for co-learning sensor placement and complex tasks. Specifically, we present a neural architecture which processes on-board sensor information to learn a salient and sparse selection of placements for optimal task performance. We evaluate our model and learning algorithm on six soft robot morphologies for various supervised learning tasks, including tactile sensing and proprioception. We also highlight applications to soft robot motion subspace visualization and control. Our method demonstrates superior performance in task learning to algorithmic and human baselines while also learning sensor placements and latent spaces that are semantically meaningful.

 

Authors: Andrew Spielberg*, Alexander Amini*, Lillian Chin, Wojciech Matusik, and Daniela Rus Published in: IEEE Robotics and Automation Letters (RA-L), with presentation in RoboSoft 2021.

 

Full Video:

Comments (0)

This post does not have any comments. Be the first to leave a comment below.


Post A Comment

You must be logged in before you can post a comment. Login now.

Featured Product

Tech Rim Standards – Tech-Winder Teach Pendant Cable Winder

Tech Rim Standards - Tech-Winder Teach Pendant Cable Winder

Tech-Winder is a robust solution for industrial cord management. Aluminum body, for hard impact protection. Flame retardant netting, for added protection against any sparks that may land on the cord. This industrial grade cord reel keeps your pendant cords protected and organized. Stores up to 50 meters (164 ft.) of cable in length with a diameter of 4.5 mm to 10.0 mm. Adapts to NAAMS or Modular Fencing when mounting. Help prevent your next $1,200 factory cable incident, by getting organized with Tech-Winder from Tech Rim Standards.