TY - JOUR
T1 - Data-Driven Methods Applied to Soft Robot Modeling and Control
T2 - A Review
AU - Chen, Zixi
AU - Renda, Federico
AU - Gall, Alexia Le
AU - Mocellin, Lorenzo
AU - Bernabei, Matteo
AU - Dangel, Theo
AU - Ciuti, Gastone
AU - Cianchetti, Matteo
AU - Stefanini, Cesare
N1 - Publisher Copyright:
Authors
PY - 2024
Y1 - 2024
N2 - Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case, they attract scholars from a variety of areas. However, nonlinearity and hysteresis effects also bring a burden to robot modeling. Moreover, following their flexibility and adaptation, soft robot control is more challenging than rigid robot control. In order to model and control soft robots, a large number of data-driven methods are utilized in pairs or separately. This review first briefly introduces two foundations for data-driven approaches, which are physical models and the Jacobian matrix, then summarizes three kinds of data-driven approaches, which are statistical method, neural network, and reinforcement learning. This review compares the modeling and controller features, e.g., model dynamics, data requirement, and target task, within and among these categories. Finally, we summarize the features of each method. A discussion about the advantages and limitations of the existing modeling and control approaches is presented, and we forecast the future of data-driven approaches in soft robots. A website (https://sites.google.com/view/23zcb) is built for this review and will be updated frequently. Note to Practitioners—This work is motivated by the need for a review introducing soft robot modeling and control methods in parallel. Modeling and control play significant roles in robot research, and they are challenging especially for soft robots. The nonlinear and complex deformation of such robots necessitates specific modeling and control approaches. We introduce the state-of-the-art data-driven methods and survey three approaches widely utilized. This review also compares the performance of these methods, considering some important features like data amount requirement, control frequency, and target task. The features of each approach are summarized, and we discuss the possible future of this area.
AB - Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case, they attract scholars from a variety of areas. However, nonlinearity and hysteresis effects also bring a burden to robot modeling. Moreover, following their flexibility and adaptation, soft robot control is more challenging than rigid robot control. In order to model and control soft robots, a large number of data-driven methods are utilized in pairs or separately. This review first briefly introduces two foundations for data-driven approaches, which are physical models and the Jacobian matrix, then summarizes three kinds of data-driven approaches, which are statistical method, neural network, and reinforcement learning. This review compares the modeling and controller features, e.g., model dynamics, data requirement, and target task, within and among these categories. Finally, we summarize the features of each method. A discussion about the advantages and limitations of the existing modeling and control approaches is presented, and we forecast the future of data-driven approaches in soft robots. A website (https://sites.google.com/view/23zcb) is built for this review and will be updated frequently. Note to Practitioners—This work is motivated by the need for a review introducing soft robot modeling and control methods in parallel. Modeling and control play significant roles in robot research, and they are challenging especially for soft robots. The nonlinear and complex deformation of such robots necessitates specific modeling and control approaches. We introduce the state-of-the-art data-driven methods and survey three approaches widely utilized. This review also compares the performance of these methods, considering some important features like data amount requirement, control frequency, and target task. The features of each approach are summarized, and we discuss the possible future of this area.
KW - data-driven method
KW - Jacobian matrices
KW - Jacobian matrix
KW - neural network
KW - physical model
KW - reinforcement learning
KW - Reviews
KW - Robot sensing systems
KW - Robots
KW - Sensors
KW - Soft robot
KW - Soft robotics
KW - statistical model
KW - Task analysis
UR - https://www.scopus.com/pages/publications/85188670318
U2 - 10.1109/TASE.2024.3377291
DO - 10.1109/TASE.2024.3377291
M3 - Article
AN - SCOPUS:85188670318
SN - 1545-5955
SP - 1
EP - 16
JO - IEEE Transactions on Automation Science and Engineering
JF - IEEE Transactions on Automation Science and Engineering
ER -