Gaussian process regression for forward and inverse kinematics of a soft robotic arm

Abstract

The use of soft robotics to perform tasks and interact with the environment requires good system identification. Data-driven methods offer a promising alternative where traditional analytical model-based techniques have proven insufficient. However, their use has been limited and under-explored in soft robotics. The novelty of this research lies in the application of Gaussian processes to soft robotics and the exploration of approximate Gaussian processes (AGP) and deep Gaussian processes (DGP) methods. It highlights the advantages of Gaussian processes in modeling uncertainty, incorporating prior knowledge, and handling complex systems. This is achieved through the identification of the forward and inverse kinematics of a two-degree-of-freedom soft robotic arm actuated by three tendons. A comparison is made between different configurations using Gaussian processes and the results are also compared with those obtained from the analytical model of the kinematics and an artificial neural network (ANN). The research contributes to the development of more efficient and accurate techniques for system identification, kinematics modeling, and control in soft robotics.