Motion planning framework based on dual-agent DDPG method for dual-arm robots guided by human joint angle constraints

Motion planning framework based on dual-agent DDPG method for dual-arm robots guided by human joint angle constraints

IntroductionReinforcement learning has been widely used in robot motion planning. However, for multi-step complex tasks of dual-arm robots, the trajectory planning method based on reinforcement learning still has some problems, such as ample exploration space, long training time, and uncontrollable...

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Bibliographic Details
Main Authors: Keyao Liang, Fusheng Zha, Wei Guo, Shengkai Liu, Pengfei Wang, Lining Sun
Format: Article
Language:English
Published: Frontiers Media S.A. 2024-02-01
Series:Frontiers in Neurorobotics
Subjects:
trajectory planning
reinforcement learning
dual-agent depth deterministic strategy gradient
human experience constrains guidance
motion parameter mapping
Online Access:https://www.frontiersin.org/articles/10.3389/fnbot.2024.1362359/full

Internet

https://www.frontiersin.org/articles/10.3389/fnbot.2024.1362359/full

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