Reinforcement learning of bimanual robot skills / Adrià Colomé, Carme Torras.

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Reinforcement learning of bimanual robot skills / Adrià Colomé, Carme Torras.

9783030263263 (electronic book)
3030263266 (electronic book)
9783030263256

Cham : Springer, [2020]

©2020

English

1 online resource : illustrations.

10.1007/978-3-030-26326-3 doi

TJ211.412 .C65 2020eb

629.8/92

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.

Includes bibliographical references.

Access limited to authorized users.

Online resource; title from PDF title page (SpringerLink, viewed September 16, 2019).

Springer tracts in advanced robotics ; v. 134.

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