DATA-ORIENTED INVERSE KINEMATICS USING THREE CAMERAS’ POINTS OF VIEW

DATA-ORIENTED INVERSE KINEMATICS USING THREE CAMERAS’ POINTS OF VIEW

Souza, Matheus Carvalho Nascimento de; Nascimento, Jessica Duarte Cardoso; Purificação, Carlos Alberto Campos da; Franklin, Taniel Silva

Full article:

Robots have advantages in operating in hard-to-reach environments for humans, but the modeling of their inverse kinematics is a complex task. Therefore, this article addresses inverse kinematics in soft robots, which present modeling and control challenges due to the non-linear properties of materials. The aim of this work was to present a data-driven inverse kinematics method using three-camera viewpoints to build a robotic skeleton. For the development of the model, three neural network topologies were used: Long Short-Term Memory (LSTM), Multilayer Perceptron (MLP), and Transformer, with the last one presenting a better performance.

Robots have advantages in operating in hard-to-reach environments for humans, but the modeling of their inverse kinematics is a complex task. Therefore, this article addresses inverse kinematics in soft robots, which present modeling and control challenges due to the non-linear properties of materials. The aim of this work was to present a data-driven inverse kinematics method using three-camera viewpoints to build a robotic skeleton. For the development of the model, three neural network topologies were used: Long Short-Term Memory (LSTM), Multilayer Perceptron (MLP), and Transformer, with the last one presenting a better performance.

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DOI: 10.5151/siintec2023-306023

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Como citar:

Souza, Matheus Carvalho Nascimento de; Nascimento, Jessica Duarte Cardoso ; Purificação, Carlos Alberto Campos da ; Franklin, Taniel Silva ; "DATA-ORIENTED INVERSE KINEMATICS USING THREE CAMERAS’ POINTS OF VIEW", p-310-317. In: . São Paulo: Blucher, 2023.
ISSN 23577592, DOI 10.5151/siintec2023-306023