| 書(shū)目名稱 | Reinforcement Learning of Bimanual Robot Skills | | 編輯 | Adrià Colomé,Carme Torras | | 視頻video | http://file.papertrans.cn/826/825944/825944.mp4 | | 概述 | Addresses the problems that arise when trying to learn bimanual robot motion tasks.Presents an approach to learning complex robot tasks.Discussess recent research related to kinematics, control, and l | | 叢書(shū)名稱 | Springer Tracts in Advanced Robotics | | 圖書(shū)封面 |  | | 描述 | .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 the second part, methods for robot motion learning based on movement primitives and direct policy search algorithms are presented. To improve sampling efficiency and accelerate learning without deteriorating solution quality, techniques for dimensionality reduction, for exploiting low-performing samples, and for contextualization and adaptability to changingsituations are proposed...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 moti | | 出版日期 | Book 2020 | | 關(guān)鍵詞 | Robotics; Artificial Intelligence; Reinforcement Learning; Redundant Robots; Robot Kinematics; Robot Dyna | | 版次 | 1 | | doi | https://doi.org/10.1007/978-3-030-26326-3 | | isbn_softcover | 978-3-030-26328-7 | | isbn_ebook | 978-3-030-26326-3Series ISSN 1610-7438 Series E-ISSN 1610-742X | | issn_series | 1610-7438 | | copyright | Springer Nature Switzerland AG 2020 |
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