Data-based Inverse Kinematic Control for Multi-section Soft Manipulator

  • Victor Santos Matos SENAI CIMATEC
  • Luis Victor C. Novaes SENAI CIMATEC
  • João Vitor S. Mendes SENAI CIMATEC
  • Lucas Cruz Da Silva SENAI CIMATEC


Soft manipulators present safe interaction with facilities and forms of life, and inherent dexterity, that demands a complex control system to precisely operate its theoretically infinite degrees of freedom. This article presents a form of data-based inverse kinematic (IK) control for a soft tendon-driven manipulator, with a closed-loop form to help the disturbance reduction to deal with multiple actuated sections, where the position of the end-effector and the middle-section can be explicitly defined. The IK is mapped by a neural network based on simulation training data from the SOFA framework simulator, with the evaluation for the best structure. Tests were conducted in the simulated manipulator, indicating a satisfactory control performance, even in an unstructured environment.
Palavras-chave: inverse kinematics, soft manipulator, data-based, neural network, multi-section control, simulation
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MATOS, Victor Santos; NOVAES, Luis Victor C.; MENDES, João Vitor S.; SILVA, Lucas Cruz Da. Data-based Inverse Kinematic Control for Multi-section Soft Manipulator. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 15. , 2023, Salvador/BA. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2023 . p. 141-146.