6-DoF Closed-Loop Grasping with Reinforcement Learning.
Sverre HerlandKerstin BachEkrem MisimiPublished in: ICRA (2024)
Keyphrases
- closed loop
- reinforcement learning
- open loop
- control system
- control scheme
- feedback control
- position control
- control law
- function approximation
- vision system
- human hand
- robotic manipulator
- degrees of freedom
- parameter identification
- pose estimation
- model free
- state space
- asymptotic stability
- learning algorithm
- force control
- feedback controller
- trajectory tracking
- disturbance rejection
- end effector
- induction motor
- adaptive control
- fuzzy control
- path planning
- flight test
- particle swarm optimization
- fuzzy logic
- neural network
- real time