Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning.
Zih-Yun ChiuFlorian RichterEmily K. FunkRyan K. OroscoMichael C. YipPublished in: ICRA (2021)
Keyphrases
- motion planning
- humanoid robot
- reinforcement learning
- inverse kinematics
- real robot
- trajectory planning
- multi modal
- robot arm
- degrees of freedom
- robotic tasks
- biologically inspired
- autonomous mobile robot
- state space
- robotic arm
- mobile robot
- control law
- mechanical systems
- obstacle avoidance
- path planning
- learning algorithm
- manipulation tasks
- optimal policy
- configuration space
- collision free
- model free
- belief space
- machine learning
- markov decision processes
- robot control
- motor control
- dynamic programming
- potential field
- human motion
- spatio temporal
- video sequences