Assist system for remote manipulation of electric drills by the robot “WAREC-1R” using deep reinforcement learning

Xiao Sun, Hiroshi Naito, Akio Namiki, Yang Liu, Takashi Matsuzawa, Atsuo Takanishi

研究成果: Article査読

抄録

Operation of tools has long been studied in robotics. Although appropriate hold of the tool by robots is the base of successful tool operation, it is not with ease especially for tools with complicated shape. In this paper, an assist system for a four-limbed robot is proposed for remote operation of reaching and grasping electric drills using deep reinforcement learning. Through comparative evaluation experiments, the increase of success rate for reaching and grasping is verified and the decrease in both physical and mental workload of the operator is also validated by the index of NASA-TLX.

本文言語English
ジャーナルRobotica
DOI
出版ステータスAccepted/In press - 2021

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 数学 (全般)
  • コンピュータ サイエンスの応用

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