Reinforcement Learning of Bimanual Robot Skills
Authors: Colomé, Adrià, Torras, Carme
Free Preview- 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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- About this book
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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.
- Reviews
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“This book should be of interest to practicing and research engineers as well as Ph.D. students in the area of robotics and artificial intelligence in engineering practices and applications.” (Clementina Mladenova, zbMATH 1436.93001, 2020)
- Table of contents (9 chapters)
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Introduction
Pages 1-7
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State of the Art
Pages 11-24
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Inverse Kinematics and Relative Arm Positioning
Pages 25-52
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Robot Compliant Control
Pages 53-72
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Preliminaries
Pages 75-87
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Table of contents (9 chapters)
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Bibliographic Information
- Bibliographic Information
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- Book Title
- Reinforcement Learning of Bimanual Robot Skills
- Authors
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- Adrià Colomé
- Carme Torras
- 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
- Softcover ISBN
- 978-3-030-26328-7
- Series ISSN
- 1610-7438
- Edition Number
- 1
- Number of Pages
- XIX, 182
- Number of Illustrations
- 7 b/w illustrations, 57 illustrations in colour
- Topics
