Adaptive Control of Robotic Servo System with Friction Compensation

D Zheng; J Na; X M Ren; G Herrmann; S Longo

Adaptive Control of Robotic Servo System with Friction Compensation

D Zheng, J Na, X M Ren, G Herrmann, S Longo

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

9 Citations (Scopus)

Abstract

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
Original language	English
Title of host publication	5th IEEE International Conference on Robotics, Automation and Mechatronics (RAM), Qingdao
Publication status	Published - 2011

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Conference Organiser: IEEE

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@inproceedings{5cd6b011d4c84379beb13bc603cc0997,

title = "Adaptive Control of Robotic Servo System with Friction Compensation",

abstract = "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.",

author = "D Zheng and J Na and Ren, {X M} and G Herrmann and S Longo",

note = "Conference Organiser: IEEE",

year = "2011",

language = "English",

booktitle = "5th IEEE International Conference on Robotics, Automation and Mechatronics (RAM), Qingdao",

}

TY - GEN

T1 - Adaptive Control of Robotic Servo System with Friction Compensation

AU - Zheng, D

AU - Na, J

AU - Ren, X M

AU - Herrmann, G

AU - Longo, S

N1 - Conference Organiser: IEEE

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

M3 - Conference Contribution (Conference Proceeding)

BT - 5th IEEE International Conference on Robotics, Automation and Mechatronics (RAM), Qingdao

ER -

Adaptive Control of Robotic Servo System with Friction Compensation

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