Design Optimization of a Pneumatic Soft Robotic Actuator Using Model-Based Optimization and Deep Reinforcement Learning

We present two frameworks for design optimization of a multi-chamber pneumatic-driven soft actuator to optimize its mechanical performance. The design goal is to achieve maximal horizontal motion of the top surface of the actuator with a minimum effect on its vertical motion. The parametric shape an...

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Bibliographic Details
Published in:Front Robot AI
Main Authors: Raeisinezhad, Mahsa, Pagliocca, Nicholas, Koohbor, Behrad, Trkov, Mitja
Format: Artigo
Language:Inglês
Published: Frontiers Media S.A. 2021
Subjects:
Robotics and AI
Online Access:https://ncbi.nlm.nih.gov/pmc/articles/PMC8138170/
https://ncbi.nlm.nih.gov/pubmed/34026857
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3389/frobt.2021.639102
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