Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator

Frontiers in Robotics and AI

Robotics and AI

Mitsuhito Ando¹  Yasuo Kuniyoshi²  Kazashi Nakano²  Kehua Wu²  Keung Or³  Masahiro Ikeda³  Ryuma Niiyama³ 

[1] College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan;Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan;School of Science and Technology, Meiji University, Kawasaki, Japan;

关键词: reinforcement learning;    curriculum learning;    simulation;    tendon-driven system;    underactuated manipulator;    soft robotics;    bio-inspired robot;   

DOI  :  10.3389/frobt.2023.1066518

 received in 2022-10-10, accepted in 2023-06-22,  发布年份 2023

来源: Frontiers

【 摘 要 】

A high degree of freedom (DOF) benefits manipulators by presenting various postures when reaching a target. Using a tendon-driven system with an underactuated structure can provide flexibility and weight reduction to such manipulators. The design and control of such a composite system are challenging owing to its complicated architecture and modeling difficulties. In our previous study, we developed a tendon-driven, high-DOF underactuated manipulator inspired from an ostrich neck referred to as the Robostrich arm. This study particularly focused on the control problems and simulation development of such a tendon-driven high-DOF underactuated manipulator. We proposed a curriculum-based reinforcement-learning approach. Inspired by human learning, progressing from simple to complex tasks, the Robostrich arm can obtain manipulation abilities by step-by-step reinforcement learning ranging from simple position control tasks to practical application tasks. In addition, an approach was developed to simulate tendon-driven manipulation with a complicated structure. The results show that the Robostrich arm can continuously reach various targets and simultaneously maintain its tip at the desired orientation while mounted on a mobile platform in the presence of perturbation. These results show that our system can achieve flexible manipulation ability even if vibrations are presented by locomotion.

【 授权许可】

Unknown   
Copyright © 2023 Or, Wu, Nakano, Ikeda, Ando, Kuniyoshi and Niiyama.