Learning a curvature dynamic model of an octopus-inspired soft robot arm using flexure sensors Universiteit Gent
This work presents a novel technique for sensing body dynamics for a soft-robot arm inspired by the octopus, using flexure sensors. The aim is to develop a sensing technique which can also simultaneously enable learning of the body dynamics that can then be used for control. Flexure sensing is advantageous for a soft bodied robot since it is a direct measure of local behaviour along the arm, and is closely connected with the piecewise constant ...