A Learning-based Control Framework for Fast and Accurate Manipulation of a Flexible Object
Junyi Wang,
Xiaofeng Xiong,
Silvia Tolu
et al.
Abstract:This paper presents a learning-based control framework for fast (< 1.5 s) and accurate manipulation of a flexible object, i.e., whip targeting. The framework consists of a motion planner learned or optimized by an algorithm, Online Impedance Adaptation Control (OIAC), a sim2real mechanism, and a visual feedback component. The experimental results show that a soft actor-critic algorithm outperforms three Deep Reinforcement Learning (DRL), a nonlinear optimization, and a genetic algorithm in learning generali… Show more
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