Model-free control for soft manipulators based on reinforcement learning.
Xuanke YouYixiao ZhangXiaotong ChenXinghua LiuZhanchi WangHao JiangXiaoping ChenPublished in: IROS (2017)
Keyphrases
- model free
- reinforcement learning
- adaptive control
- control problems
- reinforcement learning algorithms
- impedance control
- function approximation
- policy iteration
- temporal difference
- optimal control
- master slave
- robotic systems
- rl algorithms
- control strategies
- state space
- markov decision processes
- action selection
- control method
- mobile robot
- control system
- supervised learning
- machine learning
- optimal policy
- dynamic programming
- policy evaluation
- degrees of freedom
- reinforcement learning methods
- learning algorithm
- average reward
- multi agent
- learning tasks