Reinforcement learning of bimanual robot skills / Adrià Colomé, Carme Torras.
2020
TJ211.412 .C65 2020eb
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Details
Title
Reinforcement learning of bimanual robot skills / Adrià Colomé, Carme Torras.
Author
Colomé, Adrià, author.
ISBN
9783030263263 (electronic book)
3030263266 (electronic book)
9783030263256
3030263266 (electronic book)
9783030263256
Published
Cham : Springer, [2020]
Copyright
©2020
Language
English
Description
1 online resource : illustrations.
Other Standard Identifiers
10.1007/978-3-030-26326-3 doi
Call Number
TJ211.412 .C65 2020eb
Dewey Decimal Classification
629.8/92
Summary
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 the second part, methods for robot motion learning based on movement primitives and direct policy search algorithms are presented. To improve sampling efficiency and accelerate learning without deteriorating solution quality, techniques for dimensionality reduction, for exploiting low-performing samples, and for contextualization and adaptability to changing situations are proposed. 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.
Bibliography, etc. Note
Includes bibliographical references.
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Access limited to authorized users.
Source of Description
Online resource; title from PDF title page (SpringerLink, viewed September 16, 2019).
Added Author
Torras, Carme, author.
Series
Springer tracts in advanced robotics ; v. 134.
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Table of Contents
Introduction
State of the art
Inverse kinematics and relative arm positioning
Robot compliant control
Preliminaries
Sampling efficiency in learning robot motion
Dimensionality reduction with MPs
Generating and adapting ProMPs
Conclusions.
State of the art
Inverse kinematics and relative arm positioning
Robot compliant control
Preliminaries
Sampling efficiency in learning robot motion
Dimensionality reduction with MPs
Generating and adapting ProMPs
Conclusions.