Learning to Control Reconfigurable Staged Soft Arms
Austin Nicolai,Gina Olson,Yiğit Mengüç,Geoffrey A. Hollinger,Austin Nicolai,Gina Olson,Yiğit Mengüç,Geoffrey A. Hollinger
In this work, we present a novel approach for modeling, and classifying between, the system load states introduced when constructing staged soft arm configurations. Through a two stage approach: (1) an LSTM calibration routine is used to identify the current load state then (2) a control input generation step combines a generalized quasistatic model with the learned load model. Our experiments sho...
