RensMD / SoftGripper

Color Control Based Soft Robotics Gripper

SoftGripper

Color Based Position Sensing of Soft Pneumatic Actuators Using Neural Nets

Calibration

Acquisition

1. Move Soft Pneumatic Actuator to random position
2. Move Obstacle to random position
3. Get sensordata and pictures of position
4. Store actuator- and sensor-data

Image Processing

1. Use computer vision to identify markers on Soft Pneumatic Actuator
2. Use TSP algorithm to sort marker positions
3. Store position data

Create NN

1. Use MATLAB NN toolbox

Live Processing

1. Transform sensordata to position data using NN
2. Visualize position in real-time