Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator.

Autor:	Or K; School of Science and Technology, Meiji University, Kawasaki, Japan., Wu K; Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan., Nakano K; Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan., Ikeda M; School of Science and Technology, Meiji University, Kawasaki, Japan., Ando M; College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan., Kuniyoshi Y; Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan., Niiyama R; School of Science and Technology, Meiji University, Kawasaki, Japan.
Jazyk:	angličtina
Zdroj:	Frontiers in robotics and AI [Front Robot AI] 2023 Jul 12; Vol. 10, pp. 1066518. Date of Electronic Publication: 2023 Jul 12 (Print Publication: 2023).
DOI:	10.3389/frobt.2023.1066518
Abstrakt:	A high degree of freedom (DOF) benefits manipulators by presenting various postures when reaching a target. Using a tendon-driven system with an underactuated structure can provide flexibility and weight reduction to such manipulators. The design and control of such a composite system are challenging owing to its complicated architecture and modeling difficulties. In our previous study, we developed a tendon-driven, high-DOF underactuated manipulator inspired from an ostrich neck referred to as the Robostrich arm. This study particularly focused on the control problems and simulation development of such a tendon-driven high-DOF underactuated manipulator. We proposed a curriculum-based reinforcement-learning approach. Inspired by human learning, progressing from simple to complex tasks, the Robostrich arm can obtain manipulation abilities by step-by-step reinforcement learning ranging from simple position control tasks to practical application tasks. In addition, an approach was developed to simulate tendon-driven manipulation with a complicated structure. The results show that the Robostrich arm can continuously reach various targets and simultaneously maintain its tip at the desired orientation while mounted on a mobile platform in the presence of perturbation. These results show that our system can achieve flexible manipulation ability even if vibrations are presented by locomotion. Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest. (Copyright © 2023 Or, Wu, Nakano, Ikeda, Ando, Kuniyoshi and Niiyama.)
Databáze:	MEDLINE
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