TY - GEN
T1 - Cooperative suspended object manipulation using reinforcement learning and energy-based control
AU - Palunko, Ivana
AU - Donner, Philine
AU - Buss, Martin
AU - Hirche, Sandra
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - Cooperative dynamic object manipulation can extend the manipulation capabilities of robot-robot and human-robot teams. In order to be able to inject energy into various suspended objects of unknown parameters, in this paper we propose an adaptive controller which combines reinforcement learning with energy based swing-up control. The proposed controller is successfully verified in a single robot and human-robot experimental setup for different types of suspended objects.
AB - Cooperative dynamic object manipulation can extend the manipulation capabilities of robot-robot and human-robot teams. In order to be able to inject energy into various suspended objects of unknown parameters, in this paper we propose an adaptive controller which combines reinforcement learning with energy based swing-up control. The proposed controller is successfully verified in a single robot and human-robot experimental setup for different types of suspended objects.
UR - http://www.scopus.com/inward/record.url?scp=84911476672&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942664
DO - 10.1109/IROS.2014.6942664
M3 - Conference contribution
AN - SCOPUS:84911476672
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 885
EP - 891
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -