Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator

Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator

A high degree of freedom (DOF) benefits manipulators by presenting various postures when reaching a target. Using a tendon-driven system with an underactuated structure can provide flexibility and weight reduction to such manipulators. The design and control of such a composite system are challengin...

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Bibliographic Details
Main Authors: Keung Or, Kehua Wu, Kazashi Nakano, Masahiro Ikeda, Mitsuhito Ando, Yasuo Kuniyoshi, Ryuma Niiyama
Format: Article
Language:English
Published: Frontiers Media S.A. 2023-07-01
Series:Frontiers in Robotics and AI
Subjects:
reinforcement learning
curriculum learning
simulation
tendon-driven system
underactuated manipulator
soft robotics
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2023.1066518/full

Internet

https://www.frontiersin.org/articles/10.3389/frobt.2023.1066518/full

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