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Reinforcement Learning of Bimanual Robot Skills
Paperback
Series: Springer Tracts in Advanced Robotics, Book 134
Technology & EngineeringGeneral Computers
ISBN13: 9783030263287
Publisher: Springer Nature
Published: Sep 5 2020
Pages: 182
Weight: 0.64
Height: 0.43 Width: 6.14 Depth: 9.21
Language: English
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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