Toward Zero-Shot Sim-to-Real Transfer Learning for Pneumatic Soft Robot 3D Proprioceptive Sensing
Uksang Yoo,Hanwen Zhao,Alvaro Altamirano,Wenzhen Yuan,Chen Feng,Uksang Yoo,Hanwen Zhao,Alvaro Altamirano,Wenzhen Yuan,Chen Feng
Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is challenging because of their high degrees of freedom and complex deformation behaviors. Vision-based proprioception sensing methods relying on embedded cameras and...
