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

ABSTRACT: 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

SUBMITTER: Or K 

PROVIDER: S-EPMC10369056 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature