Pushing with Soft Robotic Arms via Deep Reinforcement Learning
Carlo Alessi,
Diego Bianchi,
Gianni Stano
et al.
Abstract:Soft robots can adaptively interact with unstructured environments. However, nonlinear soft material properties challenge modeling and control. Learning‐based controllers that leverage efficient mechanical models are promising for solving complex interaction tasks. This article develops a closed‐loop pose/force controller for a dexterous soft manipulator enabling dynamic pushing tasks using deep reinforcement learning. Force tests investigate the mechanical properties of a soft robot module, resulting in ortho… Show more
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