Reinforcement Learning of Bimanual Robot Skills
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Beschreibung
This book tackles all the stages and mechanisms involved in the learning of manipulation tasks by bimanual robots in unstructured settings, as it can be the task of folding clothes.
The first part describes how to build an integrated system, capable of properly handling the kinematics and dynamics of the robot along the learning process. It proposes practical enhancements to closed-loop inverse kinematics for redundant robots, a procedure to position the two arms to maximize workspace manipulability, and a dynamic model together with a disturbance observer to achieve compliant control and safe robot behavior.
In sum, the reader will find in this comprehensive exposition the relevant knowledge in different areas required to build a complete framework for model-free, compliant, coordinated robot motion learning.
This book tackles all the stages and mechanisms involved in the learning of manipulation tasks by bimanual robots in unstructured settings, as it can be the task of folding clothes.
The first part describes how to build an integrated system, capable of properly handling the kinematics and dynamics of the robot along the learning process. It proposes practical enhancements to closed-loop inverse kinematics for redundant robots, a procedure to position the two arms to maximize workspace manipulability, and a dynamic model together with a disturbance observer to achieve compliant control and safe robot behavior.
In sum, the reader will find in this comprehensive exposition the relevant knowledge in different areas required to build a complete framework for model-free, compliant, coordinated robot motion learning.
Addresses the problems that arise when trying to learn bimanual robot motion tasks Presents an approach to learning complex robot tasks Discussess recent research related to kinematics, control, and learning
Autor*in
Adrià Colomé
Themen in »Reinforcement Learning of Bimanual Robot Skills«
Robotics Artificial Intelligence Reinforcement Learning Redundant Robots Robot Kinematics Robot Dynamics Robot Motion Characterization Dimensionality Reduction
Stimmen zu »Reinforcement Learning of Bimanual Robot Skills«
“Readers familiar with robotic manipulation will appreciate this work the most, as it is situated in the most recent journal articles and conference papers.” (Benjamin Wells, Computing Reviews, February 16, 2021)
“This book should be of interest to practicing and research engineers as well as Ph.D. students in the area of robotics and artificial intelligence in engineering practices and applications.” (Clementina Mladenova, zbMATH 1436.93001, 2020)
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