Overview
- Addresses the problems that arise when trying to learn bimanual robot motion tasks
- Presents an approach to learning complex robot tasks
- Discussess recent research related to kinematics, control, and learning
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 134)
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Table of contents (9 chapters)
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Front Matter
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Compliant Redundant Robot Control
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Front Matter
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Reinforcement Learning with Movement Primitives
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Front Matter
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Back Matter
Keywords
About this book
This book tackles all the stages and mechanisms involved in the learning of manipulation tasks by bimanual robots in unstructured settings, as it can be the task of folding clothes.
The first part describes how to build an integrated system, capable of properly handling the kinematics and dynamics of the robot along the learning process. It proposes practical enhancements to closed-loop inverse kinematics for redundant robots, a procedure to position the two arms to maximize workspace manipulability, and a dynamic model together with a disturbance observer to achieve compliant control and safe robot behavior.
In sum, the reader will find in this comprehensive exposition the relevant knowledge in different areas required to build a complete framework for model-free, compliant, coordinated robot motion learning.
Reviews
“Readers familiar with robotic manipulation will appreciate this work the most, as it is situated in the most recent journal articles and conference papers.” (Benjamin Wells, Computing Reviews, February 16, 2021)
“This book should be of interest to practicing and research engineers as well as Ph.D. students in the area of robotics and artificial intelligence in engineering practices and applications.” (Clementina Mladenova, zbMATH 1436.93001, 2020)
Authors and Affiliations
Bibliographic Information
Book Title: Reinforcement Learning of Bimanual Robot Skills
Authors: Adrià Colomé, Carme Torras
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-030-26326-3
Publisher: Springer Cham
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Nature Switzerland AG 2020
Hardcover ISBN: 978-3-030-26325-6Published: 05 September 2019
Softcover ISBN: 978-3-030-26328-7Published: 05 September 2020
eBook ISBN: 978-3-030-26326-3Published: 27 August 2019
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XIX, 182
Number of Illustrations: 7 b/w illustrations, 57 illustrations in colour
Topics: Robotics and Automation, Artificial Intelligence, Control and Systems Theory