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Springer Tracts in Advanced Robotics

Reinforcement Learning of Bimanual Robot Skills

Authors: Colomé, Adrià, Torras, Carme

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  • 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 learning
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eBook $84.99
price for USA in USD (gross)
  • ISBN 978-3-030-26326-3
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $149.99
price for USA in USD
  • ISBN 978-3-030-26325-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
About this book

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 changing situations 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 motion learning.

Table of contents (9 chapters)

Table of contents (9 chapters)

Buy this book

eBook $84.99
price for USA in USD (gross)
  • ISBN 978-3-030-26326-3
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $149.99
price for USA in USD
  • ISBN 978-3-030-26325-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Reinforcement Learning of Bimanual Robot Skills
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
134
Copyright
2020
Publisher
Springer International Publishing
Copyright Holder
Springer Nature Switzerland AG
eBook ISBN
978-3-030-26326-3
DOI
10.1007/978-3-030-26326-3
Hardcover ISBN
978-3-030-26325-6
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XIX, 182
Number of Illustrations
7 b/w illustrations, 57 illustrations in colour
Topics