Reinforcement Learning of Bimanual Robot Skills by Carme Torras

Reinforcement Learning of Bimanual Robot Skills by Carme Torras

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 the second part, methods for robot motion learning based on movement primitives and direct policy search algorithms are presented. To improve sampling efficiency and accelerate learning without deteriorating solution quality, techniques for dimensionality reduction, for exploiting low-performing samples, and for contextualization and adaptability to changingsituations are proposed. 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.

“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)

Carme Torras is a major robotics and artificial intelligence researcher at the Institut de Robtica i Informàtica Industrial (CSIC-UPC) in Barcelona, as well as the editor of IEEE Transactions on Robotics. She is the author of four novels and a member of the Catalan Society for Science Fiction and Fantasy.

SKU	Unavailable
ISBN 13	9783030263256
ISBN 10	3030263258
Title	Reinforcement Learning of Bimanual Robot Skills
Author	Carme Torras
Series	Springer Tracts In Advanced Robotics
Condition	Unavailable
Binding Type	Hardback
Publisher	Springer Nature Switzerland AG
Year published	2019-09-05
Number of pages	182
Cover note	Book picture is for illustrative purposes only, actual binding, cover or edition may vary.