Pregled bibliografske jedinice broj: 728757
Cooperative suspended object manipulation using reinforcement learning and energy-based control
Cooperative suspended object manipulation using reinforcement learning and energy-based control // Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014
Chicago (IL), Sjedinjene Američke Države, 2014. str. 885-891 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 728757 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Cooperative suspended object manipulation using reinforcement learning and energy-based control
Autori
Palunko, Ivana ; Donner, Philine ; Buss, Martin ; Hirche, Sandra
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014
/ - , 2014, 885-891
Skup
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014
Mjesto i datum
Chicago (IL), Sjedinjene Američke Države, 14.09.2014. - 18.09.2014
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Adaptation models; Approximation methods; Manipulator dynamics; Mathematical model
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
Profili:
Ivana Palunko
(autor)
