This paper presents the implementation (real time and simulation) of a model-free Q-learning based discrete model reference compliance controller for a humanoid robot arm. The Reinforcement learning (RL) scheme uses a recently developed Q-learning scheme to develop an optimal policy on-line. The RL Cartesian (x and y) tracking controller with model reference compliance was implemented using two links (shoulder flexion and elbow flexion joints) of the right arm of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) torso.
|Translated title of the contribution||Adaptive Control of Robotic Servo System with Friction Compensation|
|Title of host publication||5th IEEE International Conference on Robotics, Automation and Mechatronics (RAM), Qingdao|
|Publication status||Published - 2011|