A reinforcement learning enhanced pseudo-inverse approach to self-collision avoidance of redundant robots

A reinforcement learning enhanced pseudo-inverse approach to self-collision avoidance of redundant robots

IntroductionRedundant robots offer greater flexibility compared to non-redundant ones but are susceptible to increased collision risks when the end-effector approaches the robot's own links. Redundant degrees of freedom (DoFs) present an opportunity for collision avoidance; however, selecting a...

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Bibliographic Details
Main Authors:	Tinghe Hong, Weibing Li, Kai Huang
Format:	Article
Language:	English
Published:	Frontiers Media S.A. 2024-03-01
Series:	Frontiers in Neurorobotics
Subjects:	reinforcement learning inverse kinematics redundant robots self-collision avoidance sim to real
Online Access:	https://www.frontiersin.org/articles/10.3389/fnbot.2024.1375309/full

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