Constraint-Aware Policy for Compliant Manipulation

Constraint-Aware Policy for Compliant Manipulation

Robot manipulation in a physically constrained environment requires compliant manipulation. Compliant manipulation is a manipulation skill to adjust hand motion based on the force imposed by the environment. Recently, reinforcement learning (RL) has been applied to solve household operations involvi...

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Bibliographic Details
Main Authors: Daichi Saito, Kazuhiro Sasabuchi, Naoki Wake, Atsushi Kanehira, Jun Takamatsu, Hideki Koike, Katsushi Ikeuchi
Format: Article
Language:English
Published: MDPI AG 2023-12-01
Series:Robotics
Subjects:
compliant manipulation
reinforcement learning
Learning-from-Observation
Online Access:https://www.mdpi.com/2218-6581/13/1/8

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