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Bodily aware soft robots: integration of proprioceptive and exteroceptive sensors

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Bodily aware soft robots : integration of proprioceptive and exteroceptive sensors. / Soter, Gabor; Conn, Andrew; Hauser, Helmut; Rossiter, Jonathan.

2018 IEEE International Conference on Robotics and Automation (ICRA 2018). Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 2448-2453.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Harvard

Soter, G, Conn, A, Hauser, H & Rossiter, J 2018, Bodily aware soft robots: integration of proprioceptive and exteroceptive sensors. in 2018 IEEE International Conference on Robotics and Automation (ICRA 2018). Institute of Electrical and Electronics Engineers (IEEE), pp. 2448-2453, 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8463169

APA

Soter, G., Conn, A., Hauser, H., & Rossiter, J. (2018). Bodily aware soft robots: integration of proprioceptive and exteroceptive sensors. In 2018 IEEE International Conference on Robotics and Automation (ICRA 2018) (pp. 2448-2453). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA.2018.8463169

Vancouver

Soter G, Conn A, Hauser H, Rossiter J. Bodily aware soft robots: integration of proprioceptive and exteroceptive sensors. In 2018 IEEE International Conference on Robotics and Automation (ICRA 2018). Institute of Electrical and Electronics Engineers (IEEE). 2018. p. 2448-2453 https://doi.org/10.1109/ICRA.2018.8463169

Author

Soter, Gabor ; Conn, Andrew ; Hauser, Helmut ; Rossiter, Jonathan. / Bodily aware soft robots : integration of proprioceptive and exteroceptive sensors. 2018 IEEE International Conference on Robotics and Automation (ICRA 2018). Institute of Electrical and Electronics Engineers (IEEE), 2018. pp. 2448-2453

Bibtex

@inproceedings{b385ef88237a4e7b8e571eec26cdd8c1,
title = "Bodily aware soft robots: integration of proprioceptive and exteroceptive sensors",
abstract = "Being aware of our body has great importance in our everyday life. It helps us to complete difficult tasks, such as movement in a dark room or grasping a complex object. These skills are important for robots as well, however, robotic bodily awareness is still an open question, and the nonlinearity of soft robots adds even more complexity. In this paper, we address this problem and present a novel method to implement bodily awareness into a real soft robot by the integration of its exteroceptive and proprioceptive sensors. We use an octopus-inspired arm as an example where the proprioceptive representation is approximated by four bend sensors integrated into the soft body, while a camera records the movement of the arm capturing its exteroceptive representation. The internal sensory signals are mapped to the visual information using a combination of a stacked convolutional autoencoder (CAE) and a recurrent neural network (RNN). As a result, the soft robot can learn to estimate and, therefore, to imagine its motion even when its visual sensor is not available.",
keywords = "Convolution, Soft robotics, Robot sensing systems, Visualization, Recurrent neural networks",
author = "Gabor Soter and Andrew Conn and Helmut Hauser and Jonathan Rossiter",
year = "2018",
month = "11",
doi = "10.1109/ICRA.2018.8463169",
language = "English",
isbn = "9781538630822",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
pages = "2448--2453",
booktitle = "2018 IEEE International Conference on Robotics and Automation (ICRA 2018)",
address = "United States",

}

RIS - suitable for import to EndNote

TY - GEN

T1 - Bodily aware soft robots

T2 - integration of proprioceptive and exteroceptive sensors

AU - Soter, Gabor

AU - Conn, Andrew

AU - Hauser, Helmut

AU - Rossiter, Jonathan

PY - 2018/11

Y1 - 2018/11

N2 - Being aware of our body has great importance in our everyday life. It helps us to complete difficult tasks, such as movement in a dark room or grasping a complex object. These skills are important for robots as well, however, robotic bodily awareness is still an open question, and the nonlinearity of soft robots adds even more complexity. In this paper, we address this problem and present a novel method to implement bodily awareness into a real soft robot by the integration of its exteroceptive and proprioceptive sensors. We use an octopus-inspired arm as an example where the proprioceptive representation is approximated by four bend sensors integrated into the soft body, while a camera records the movement of the arm capturing its exteroceptive representation. The internal sensory signals are mapped to the visual information using a combination of a stacked convolutional autoencoder (CAE) and a recurrent neural network (RNN). As a result, the soft robot can learn to estimate and, therefore, to imagine its motion even when its visual sensor is not available.

AB - Being aware of our body has great importance in our everyday life. It helps us to complete difficult tasks, such as movement in a dark room or grasping a complex object. These skills are important for robots as well, however, robotic bodily awareness is still an open question, and the nonlinearity of soft robots adds even more complexity. In this paper, we address this problem and present a novel method to implement bodily awareness into a real soft robot by the integration of its exteroceptive and proprioceptive sensors. We use an octopus-inspired arm as an example where the proprioceptive representation is approximated by four bend sensors integrated into the soft body, while a camera records the movement of the arm capturing its exteroceptive representation. The internal sensory signals are mapped to the visual information using a combination of a stacked convolutional autoencoder (CAE) and a recurrent neural network (RNN). As a result, the soft robot can learn to estimate and, therefore, to imagine its motion even when its visual sensor is not available.

KW - Convolution

KW - Soft robotics

KW - Robot sensing systems

KW - Visualization

KW - Recurrent neural networks

U2 - 10.1109/ICRA.2018.8463169

DO - 10.1109/ICRA.2018.8463169

M3 - Conference contribution

SN - 9781538630822

SP - 2448

EP - 2453

BT - 2018 IEEE International Conference on Robotics and Automation (ICRA 2018)

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -