Model-Free Reinforcement Learning with Ensemble for a Soft Continuum Robot Arm.

Ryota Morimoto Satoshi Nishikawa Ryuma Niiyama Yasuo Kuniyoshi

Published in: RoboSoft (2021)

Keyphrases

robot arm
model free reinforcement learning
motion planning
position and orientation
reinforcement learning
neural network
control strategies
policy gradient
nonlinear systems
control law
learning algorithm
multi modal
least squares
input output
closed loop
real time
real robot