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A Deep Reinforcement Learning Based Efficient Optimization Solution Method for Inverse Kinematics of Hyper-redundant Robot.
Yitong Chen
Te Li
Wenbo Cui
Guiben Tuo
Xingjian Liu
Yongqing Wang
Published in:
ROBIO (2022)
Keyphrases
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efficient optimization
inverse kinematics
robot manipulators
cost function
optimization method
three dimensional
mathematical model
position and orientation
machine learning
reinforcement learning
objective function
support vector machine svm
bp neural network
globally optimal
convex relaxation
robot arm