Cooperative suspended object manipulation using reinforcement learning and energy-based control (CROSBI ID 617214)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Palunko, Ivana ; Donner, Philine ; Buss, Martin ; Hirche, Sandra
engleski
Cooperative suspended object manipulation using reinforcement learning and energy-based control
Cooperative dynamic object manipulation can extend the manipulation capabilities of robot-robot and human-robot teams. In order to be able to inject energy into various suspended objects of unknown parameters, in this paper we propose an adaptive controller which combines reinforcement learning with energy based swing-up control. The proposed controller is successfully verified in a single robot and human-robot experimental setup for different types of suspended objects.
Adaptation models; Approximation methods; Manipulator dynamics; Mathematical model
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Podaci o prilogu
885-891.
2014.
objavljeno
Podaci o matičnoj publikaciji
Podaci o skupu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014
predavanje
14.09.2014-18.09.2014
Chicago (IL), Sjedinjene Američke Države