Reinforcement learning of dual-arm cooperation for a mobile manipulator with sequences of dynamical movement primitives

Deng, Mingdi; Hu, Yidan; Li, Zhijun

doi:10.1109/icarm.2017.8273159

Cited by 5 publications

(2 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In terms of dual-arm control, many researchers have conducted research on teleoperation bimanual coordination. Methods based on dynamic movement primitives (Deng et al , 2017; Franzese et al , 2022; Rakita et al , 2019), haptic shared (Selvaggio et al , 2018; Zeestraten et al , 2018), behavior assistance (Pruks and Ryu, 2022; Sun et al , 2020c) and visual recognition (Cisneros et al , 2015; Haynes et al , 2017; Lim et al , 2017) have been used to solve the bimanual coordination problem. However, the original intention of the above methods is to reduce the user’s cognitive burden and operational fatigue.…”

Section: Introductionmentioning

confidence: 99%

A humanoid robot teleoperation approach based on waist–arm coordination

Fan

Shu

et al. 2023

View full text Add to dashboard Cite

Purpose In the current teleoperation system of humanoid robots, the control between arms and the control between the waist and arms are individual and lack coordinated motion. This paper aims to solve the above problem and proposes a teleoperation control approach for a humanoid robot based on waist–arm coordination (WAC). Design/methodology/approach The teleoperation approach based on WAC comprises dual-arm coordination (DAC) and WAC. The DAC method realizes the coordinated motion of both arms through one hand by establishing a mapping relationship between a single hand controller and the manipulated object; the WAC method realizes the coordinated motion of both arms and waist by calculating the inverse kinematic input of robotic arms based on the desired velocity of the waist and the end of both arms. An integrated teleoperation control framework provides interfaces for the above methods, and users can switch control modes online to adapt to different tasks. Findings After conducting experiments on the dual-arm humanoid robot through the teleoperation control framework, it was found that the DAC method can save 27.2% of the operation time and reduce 99.9% of the posture change of the manipulated object compared with the commonly used individual control. The WAC method can accomplish a task that cannot be done by individual control. The experiments proved the improvement of both methods in terms of operation efficiency, operation stability and operation capability compared with individual control. Originality/value The DAC method better maintains the constraints of both arms and the manipulated object. The WAC method better maintains the constraints of the manipulated object itself. Meanwhile, the teleoperation framework integrates the proposed methods and enriches the teleoperation modes and control means.

show abstract

Section: Introductionmentioning

confidence: 99%

A humanoid robot teleoperation approach based on waist–arm coordination

Fan

Shu

et al. 2023

View full text Add to dashboard Cite

show abstract

“…The rapidly exploring random trees algorithm and the deep deterministic policy gradient algorithm are used to determine the motion planning of dual arms. Deng et al (2017) introduced a method to prevent the noises during the dual-arm coordinated motions using RL technique. RL algorithms along with dynamic motion primitive strategies are adopted to prevent the noises during various tasks.…”

Section: Introductionmentioning

confidence: 99%

Dexterity analysis and intelligent trajectory planning of redundant dual arms for an upper body humanoid robot

Sulaiman

Sudheer

2021

View full text Add to dashboard Cite

Purpose Most of the redundant dual-arm robots are singular free, dexterous and collision free compared to other robotic arms. This paper aims to analyse the workspace of redundant arms to study the manipulability. Furthermore, multi-layer perceptron (MLP) algorithm is used to determine the various joint parameters of both the upper body redundant arms. Trajectory planning of robotic arms is carried out with the help of inverse solutions obtained from the MLP algorithm. Design/methodology/approach In this paper, the kinematic equations are derived from screw theory approach and inverse kinematic solutions are determined using MLP algorithm. Levenberg–Marquardt (LM) and Bayesian regulation (BR) techniques are used as the backpropagation algorithms. The results from two backpropagation techniques are compared for determining the prediction accuracy. The inverse solutions obtained from the MLP algorithm are then used to optimize the cubic spline trajectories planned for avoiding collision between arms with the help of convex optimization technique. The dexterity of the redundant arms is analysed with the help of Cartesian workspace of arms. Findings Dexterity of redundant arms is analysed by studying the voids and singular spaces present inside the workspace of arms. MLP algorithms determine unique solutions with less computational effort using BR backpropagation. The inverse solutions obtained from MLP algorithm effectively optimize the cubic spline trajectory for the redundant dual arms using convex optimization technique. Originality/value Most of the MLP algorithms used for determining the inverse solutions are used with LM backpropagation technique. In this paper, BR technique is used as the backpropagation technique. BR technique converges fast with less computational time than LM method. The inverse solutions of arm joints for traversing optimized cubic spline trajectory using convex optimization technique are computed from the MLP algorithm.

show abstract

Recognition of Environmental Impedance Configuration by Neural Network Using Time-Series Contact State Response

Yane

Nozaki

2022

2022 IEEE 17th International Conference on Advanced Motion Control (AMC)

View full text Add to dashboard Cite

Reinforcement learning of dual-arm cooperation for a mobile manipulator with sequences of dynamical movement primitives

Cited by 5 publications

References 8 publications

A humanoid robot teleoperation approach based on waist–arm coordination

A humanoid robot teleoperation approach based on waist–arm coordination

Dexterity analysis and intelligent trajectory planning of redundant dual arms for an upper body humanoid robot

Recognition of Environmental Impedance Configuration by Neural Network Using Time-Series Contact State Response

Contact Info

Product

Resources

About