Dynamic Modeling of a Soft Laparoscope: A Deep Neural Network Approach

Axel Cespedes, Ricardo Terreros, Sergio Morales, Aldair Huamani, Ruth Canahuire

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

1 Cita (Scopus)

Resumen

Soft robotics is a research area with a diverse number of designs and shapes depending on the application. It is due to this variety that the modeling of soft robots is reduced to a few methods. However, a model based on neural networks simplifies and connects the necessary variables to perform tasks in real-time. This model relates the coordinates of the end effector in the Cartesian plane with the inputs of the soft actuator, which are the internal pressures of each chamber. In addition, a model based on neural networks considers the limitations of the system since the base data for learning is similar to real conditions data. With this approach and the piecewise constant curvature kinematic modeling, the position and orientation in the workspace of the soft laparoscope can be accurately identified.

Idioma originalInglés
Título de la publicación alojada2022 19th Latin American Robotics Symposium, 2022 14th Brazilian Symposium on Robotics and 2022 13th Workshop on Robotics in Education, LARS-SBR-WRE 2022
EditoresThiago Pedro Donadon Homem, Reinaldo Augusto da Costa Bianchi, Bruno Marques Ferreira da Silva, Carla da Costa Fernandes Curvelo, Milena Faria Pinto
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas253-258
Número de páginas6
ISBN (versión digital)9781665462808
DOI
EstadoPublicada - 2022
Evento19th Latin American Robotics Symposium, 14th Brazilian Symposium on Robotics and 13th Workshop on Robotics in Education, LARS-SBR-WRE 2022 - Virtual, Online, Brasil
Duración: 18 oct. 202221 oct. 2022

Serie de la publicación

Nombre2022 19th Latin American Robotics Symposium, 2022 14th Brazilian Symposium on Robotics and 2022 13th Workshop on Robotics in Education, LARS-SBR-WRE 2022

Conferencia

Conferencia19th Latin American Robotics Symposium, 14th Brazilian Symposium on Robotics and 13th Workshop on Robotics in Education, LARS-SBR-WRE 2022
País/TerritorioBrasil
CiudadVirtual, Online
Período18/10/2221/10/22

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