Reinforcement Learning of Bimanual Robot Skills
Aug 2019 · Springer Nature
Ebook
182
Pages
About this ebook
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.
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 dynami...
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