Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator.
Keung OrKehua WuKazashi NakanoMasahiro IkedaMitsuhito AndoYasuo KuniyoshiRyuma NiiyamaPublished in: Frontiers Robotics AI (2023)
Keyphrases
- simulation platform
- force control
- high degree of freedom
- reinforcement learning
- impedance control
- robot manipulators
- degrees of freedom
- human movement
- rapid prototyping
- agent technology
- control strategy
- closed loop
- modeling tool
- mathematical modeling
- function approximation
- optimal control
- state space
- control system
- motion planning
- control scheme
- path planning
- contact force
- vision system
- learning algorithm
- cooperative
- multi agent systems
- pose estimation
- robotic arm
- human body
- inverse kinematics
- experimental data
- model free
- control law
- dynamic model