analiza aiqbench
This research applies physics-informed neural networks to solve the high-computational bottleneck in controlling soft continuum robots, achieving real-time performance via a GPU-accelerated surrogate model. By integrating Cosserat rod theory with adaptive bending stiffness estimation, the system enables accurate dynamic trajectory tracking that data-driven methods alone cannot provide for complex robotic shapes. The work represents a significant advancement at the intersection of machine learning and robotics control systems.
Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theory
arXiv:2508.12681v3 Announce Type: replace Abstract: Dynamic control of soft continuum robots (SCRs) holds great potential for expanding their applications, but remains a challenging problem due to the high computational demands of accurate dynamic models. While data-driven approaches like Koopman-operator-based methods have been proposed, they typically lack adaptability and cannot reconstruct the full robot shape, limiting their applicability. This work introduces a real-time-capable nonlinear model-predictive control (MPC) framework for SCRs based on a domain-decoupled physics-informed neural network (DD-PINN) with adaptable bending stiffness. The DD-PINN serves as a surrogate for the dynamic Cosserat rod model with a speed-up factor of up to 44,000. It is also used within an unscented Kalman filter for estimating the model states and bending compliance from end-effector position measurements. We implement a nonlinear evolutionary MPC running at 70 Hz on the GPU. In simulation, it demonstrates accurate tracking of dynamic trajectories and setpoint control with end-effector position errors below 3 mm (2.3\% of the actuator's length). In real-world experiments, the controller achieves similar accuracy and accelerations up to 3.55 m/s2.
Abstract:Dynamic control of soft continuum robots (SCRs) holds great potential for expanding their applications, but remains a challenging problem due to the high computational demands of accurate dynamic models. While data-driven approaches like Koopman-operator-based methods have been proposed, they typically lack adaptability and cannot reconstruct the full robot shape, limiting their applicability. This work introduces a real-time-capable nonlinear model-predictive control (MPC) framework for SCRs based on a domain-decoupled physics-informed neural network (DD-PINN) with adaptable bending stiffness. The DD-PINN serves as a surrogate for the dynamic Cosserat rod model with a speed-up factor of up to 44,000. It is also used within an unscented Kalman filter for estimating the model states and bending compliance from end-effector position measurements. We implement a nonlinear evolutionary MPC running at 70 Hz on the GPU. In simulation, it demonstrates accurate tracking of dynamic trajectories and setpoint control with end-effector position errors below 3 mm (2.3\% of the actuator's length). In real-world experiments, the controller achieves similar accuracy and accelerations up to 3.55 m/s2.
Robotics (cs.RO); Machine Learning (cs.LG); Systems and Control (eess.SY)
arXiv:2508.12681 [cs.RO]
(or arXiv:2508.12681v3 [cs.RO] for this version)
Text integral sub licența deschisă a publicației · 185 cuvinte
Subiecte conexe
SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation
arXiv · 16 sept. 2026
Problems of Proliferation
LessWrong · 29 sept. 2026
Developing Healthcare Robotics with GPU-Native Medical Physics Simulation
NVIDIA · 28 iul. 2026
Learning-Based Pressure Predictive Control of a Vertebraic Soft Robotic Tail
arXiv · 28 sept. 2026