Efficient Exploratory Learning of Inverse Kinematics on a Bionic Elephant Trunk

• Published in: IEEE transaction on neural networks and learning systems Vol. 25; no. 6; pp. 1147 - 1160
• Main Authors: Rolf, Matthias, Steil, Jochen J.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.06.2014; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Accuracy; Actuators; Adaptative systems; Algorithms; Applied sciences; Bellows; Bionic handling assistant (BHA); Computer science; control theory; systems; continuum robot; Control theory. Systems; Data processing. List processing. Character string processing; Exact sciences and technology; Fundamental areas of phenomenology (including applications); goal babbling; inverse kinematics; Inverse problems; Kinematics; Memory organisation. Data processing; Physics; Robot sensing systems; Robotics; Robots; Software; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Bionic handling assistant (BHA); continuum robot; inverse kinematics; goal babbling; Trunk; On the fly; Dimensionality; Bionics; Solid dynamic; Feedback regulation; Non stationary condition; Non stationary process; Robotics; Inverse problem; Bootstrapping; Closed feedback; Biomimetics; Kinematics; Robot; Intelligent control

We present an approach to learn the inverse kinematics of the "bionic handling assistant"-an elephant trunk robot. This task comprises substantial challenges including high dimensionality, restrictive and unknown actuation ranges, and nonstationary system behavior. We use a recent explorat...