Optimal contact force of Robots in Unknown Environments using Reinforcement Learning and Model-free controllers.
Adolfo PerrusquíaWen YuAlberto SoriaPublished in: CCE (2019)
Keyphrases
- model free
- reinforcement learning
- unknown environments
- mobile robot
- function approximation
- reinforcement learning algorithms
- autonomous robots
- dynamic programming
- impedance control
- free space
- contact force
- temporal difference
- optimal control
- obstacle avoidance
- state space
- policy iteration
- robot control
- markov decision processes
- path planning
- real robot
- force control
- learning algorithm
- dynamic environments
- outdoor environments
- rl algorithms
- genetic algorithm
- autonomous navigation
- visual servoing
- real time