A versatile door opening system with mobile manipulator through adaptive position-force control and reinforcement learning.
Gyuree KangHyunki SeongDaegyu LeeDavid Hyunchul ShimPublished in: Robotics Auton. Syst. (2024)
Keyphrases
- force control
- reinforcement learning
- robot manipulators
- position control
- robotic cell
- end effector
- control strategy
- function approximation
- multi agent
- state space
- model free
- closed loop
- control law
- impedance control
- optimal control
- sufficient conditions
- particle swarm optimization
- multi objective
- control system
- artificial neural networks
- learning algorithm
- real time