Motion Planning for Dual-Arm Robot Based on Soft Actor-Critic
In this paper, a motion planning method based on the Soft Actor-Critic (SAC) is designed for a dual-arm robot with two 7-Degree-of-Freedom (7-DOF) arms so that the robot can effectively avoid self-collision and at the same time can avoid the joint limits and singularities of the arm. The left-arm an...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9345768/ |