Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator.
Ruturaj SambhusAydin GokceStephen WelchConnor W. HerronAlexander LeonessaPublished in: IROS (2023)
Keyphrases
- model free
- reinforcement learning
- impedance control
- force control
- real time
- closed loop
- reinforcement learning algorithms
- control system
- function approximation
- position control
- temporal difference
- policy iteration
- robot manipulators
- policy evaluation
- control strategy
- rl algorithms
- vision system
- machine learning
- control law
- learning algorithm
- markov decision processes
- state space
- action selection
- control architecture
- fuzzy control
- optimal control
- learning problems
- optimal policy