Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning.
Zih-Yun ChiuFlorian RichterEmily K. FunkRyan K. OroscoMichael C. YipPublished in: CoRR (2020)
Keyphrases
- motion planning
- humanoid robot
- reinforcement learning
- real robot
- inverse kinematics
- trajectory planning
- biologically inspired
- robot arm
- state space
- degrees of freedom
- mobile robot
- robotic arm
- multi modal
- path planning
- robotic tasks
- markov decision processes
- optimal policy
- motor control
- obstacle avoidance
- model free
- manipulation tasks
- mechanical systems
- configuration space
- control law
- multi robot
- multi agent
- belief space
- dynamic programming
- potential field
- robot control
- partially observable
- collision free
- end effector
- vision system
- input image
- spatio temporal
- autonomous mobile robot
- high dimensional