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

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 challengin...

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Autores principales: Or, Keung, Wu, Kehua, Nakano, Kazashi, Ikeda, Masahiro, Ando, Mitsuhito, Kuniyoshi, Yasuo, Niiyama, Ryuma
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10369056/
https://www.ncbi.nlm.nih.gov/pubmed/37501743
http://dx.doi.org/10.3389/frobt.2023.1066518
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author Or, Keung
Wu, Kehua
Nakano, Kazashi
Ikeda, Masahiro
Ando, Mitsuhito
Kuniyoshi, Yasuo
Niiyama, Ryuma
author_facet Or, Keung
Wu, Kehua
Nakano, Kazashi
Ikeda, Masahiro
Ando, Mitsuhito
Kuniyoshi, Yasuo
Niiyama, Ryuma
author_sort Or, Keung
collection PubMed
description 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 Robostrich arm can obtain manipulation abilities by step-by-step reinforcement learning ranging from simple position control tasks to practical application tasks. In addition, an approach was developed to simulate tendon-driven manipulation with a complicated structure. The results show that the Robostrich arm can continuously reach various targets and simultaneously maintain its tip at the desired orientation while mounted on a mobile platform in the presence of perturbation. These results show that our system can achieve flexible manipulation ability even if vibrations are presented by locomotion.
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spelling pubmed-103690562023-07-27 Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator Or, Keung Wu, Kehua Nakano, Kazashi Ikeda, Masahiro Ando, Mitsuhito Kuniyoshi, Yasuo Niiyama, Ryuma Front Robot AI Robotics and AI 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 Robostrich arm can obtain manipulation abilities by step-by-step reinforcement learning ranging from simple position control tasks to practical application tasks. In addition, an approach was developed to simulate tendon-driven manipulation with a complicated structure. The results show that the Robostrich arm can continuously reach various targets and simultaneously maintain its tip at the desired orientation while mounted on a mobile platform in the presence of perturbation. These results show that our system can achieve flexible manipulation ability even if vibrations are presented by locomotion. Frontiers Media S.A. 2023-07-12 /pmc/articles/PMC10369056/ /pubmed/37501743 http://dx.doi.org/10.3389/frobt.2023.1066518 Text en Copyright © 2023 Or, Wu, Nakano, Ikeda, Ando, Kuniyoshi and Niiyama. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Or, Keung
Wu, Kehua
Nakano, Kazashi
Ikeda, Masahiro
Ando, Mitsuhito
Kuniyoshi, Yasuo
Niiyama, Ryuma
Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator
title Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator
title_full Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator
title_fullStr Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator
title_full_unstemmed Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator
title_short Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator
title_sort curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10369056/
https://www.ncbi.nlm.nih.gov/pubmed/37501743
http://dx.doi.org/10.3389/frobt.2023.1066518
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