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...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2023-07-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1066518/full |
| _version_ | 1797782153338028032 |
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| author | Keung Or Kehua Wu Kazashi Nakano Masahiro Ikeda Mitsuhito Ando Yasuo Kuniyoshi Ryuma Niiyama |
| author_facet | Keung Or Kehua Wu Kazashi Nakano Masahiro Ikeda Mitsuhito Ando Yasuo Kuniyoshi Ryuma Niiyama |
| author_sort | Keung Or |
| collection | DOAJ |
| description | 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 challenging owing to its complicated architecture and modeling difficulties. In our previous study, we developed a tendon-driven, high-DOF underactuated manipulator inspired from an ostrich neck referred to as the Robostrich arm. This study particularly focused on the control problems and simulation development of such a tendon-driven high-DOF underactuated manipulator. We proposed a curriculum-based reinforcement-learning approach. Inspired by human learning, progressing from simple to complex tasks, the Robostrich arm can obtain manipulation abilities by step-by-step reinforcement learning ranging from simple position control tasks to practical application tasks. In addition, an approach was developed to simulate tendon-driven manipulation with a complicated structure. The results show that the Robostrich arm can continuously reach various targets and simultaneously maintain its tip at the desired orientation while mounted on a mobile platform in the presence of perturbation. These results show that our system can achieve flexible manipulation ability even if vibrations are presented by locomotion. |
| first_indexed | 2024-03-13T00:07:00Z |
| format | Article |
| id | doaj.art-a3e722cdf3e44da2a000ed9be1a74c46 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-03-13T00:07:00Z |
| publishDate | 2023-07-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-a3e722cdf3e44da2a000ed9be1a74c462023-07-13T00:12:33ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442023-07-011010.3389/frobt.2023.10665181066518Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulatorKeung Or0Kehua Wu1Kazashi Nakano2Masahiro Ikeda3Mitsuhito Ando4Yasuo Kuniyoshi5Ryuma Niiyama6School of Science and Technology, Meiji University, Kawasaki, JapanGraduate School of Information Science and Technology, The University of Tokyo, Tokyo, JapanGraduate School of Information Science and Technology, The University of Tokyo, Tokyo, JapanSchool of Science and Technology, Meiji University, Kawasaki, JapanCollege of Information Science and Engineering, Ritsumeikan University, Shiga, JapanGraduate School of Information Science and Technology, The University of Tokyo, Tokyo, JapanSchool of Science and Technology, Meiji University, Kawasaki, JapanA 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 challenging owing to its complicated architecture and modeling difficulties. In our previous study, we developed a tendon-driven, high-DOF underactuated manipulator inspired from an ostrich neck referred to as the Robostrich arm. This study particularly focused on the control problems and simulation development of such a tendon-driven high-DOF underactuated manipulator. We proposed a curriculum-based reinforcement-learning approach. Inspired by human learning, progressing from simple to complex tasks, the Robostrich arm can obtain manipulation abilities by step-by-step reinforcement learning ranging from simple position control tasks to practical application tasks. In addition, an approach was developed to simulate tendon-driven manipulation with a complicated structure. The results show that the Robostrich arm can continuously reach various targets and simultaneously maintain its tip at the desired orientation while mounted on a mobile platform in the presence of perturbation. These results show that our system can achieve flexible manipulation ability even if vibrations are presented by locomotion.https://www.frontiersin.org/articles/10.3389/frobt.2023.1066518/fullreinforcement learningcurriculum learningsimulationtendon-driven systemunderactuated manipulatorsoft robotics |
| spellingShingle | Keung Or Kehua Wu Kazashi Nakano Masahiro Ikeda Mitsuhito Ando Yasuo Kuniyoshi Ryuma Niiyama Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator Frontiers in Robotics and AI reinforcement learning curriculum learning simulation tendon-driven system underactuated manipulator soft robotics |
| title | Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator |
| title_full | Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator |
| title_fullStr | Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator |
| title_full_unstemmed | Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator |
| title_short | Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator |
| title_sort | curriculum reinforcement learning on simulation platform of tendon driven high degree of freedom underactuated manipulator |
| topic | reinforcement learning curriculum learning simulation tendon-driven system underactuated manipulator soft robotics |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2023.1066518/full |
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