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