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Reinforcement Learning of Bimanual Robot Skills (Hardcover, 1st ed. 2020)
Loot Price: R2,793
Discovery Miles 27 930
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Reinforcement Learning of Bimanual Robot Skills (Hardcover, 1st ed. 2020)
Series: Springer Tracts in Advanced Robotics, 134
Expected to ship within 10 - 15 working days
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Total price: R2,813
Discovery Miles: 28 130
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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.
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