Reinforcement Learning of Bimanual Robot Skills EPUB
by Adria Colome, Carme Torras
Part of the Springer Tracts in Advanced Robotics series
EPUB
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Description
This book tackles all the stages and mechanisms involved in the learning of manipulation tasks by bimanual robots in unstructured settings, as it can be the task of folding clothes.
The first part describes how to build an integrated system, capable of properly handling the kinematics and dynamics of the robot along the learning process. It proposes practical enhancements to closed-loop inverse kinematics for redundant robots, a procedure to position the two arms to maximize workspace manipulability, and a dynamic model together with a disturbance observer to achieve compliant control and safe robot behavior.
In sum, the reader will find in this comprehensive exposition the relevant knowledge in different areas required to build a complete framework for model-free, compliant, coordinated robot motion learning.
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- Format:EPUB
- Publisher:Springer International Publishing
- Publication Date:27/08/2019
- Category:
- ISBN:9783030263263
Information
-
Download Now
- Format:EPUB
- Publisher:Springer International Publishing
- Publication Date:27/08/2019
- Category:
- ISBN:9783030263263