ICRA 2012 Paper Abstract

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Paper TuA06.2

Rombokas, Eric (University Of Washington), Theodorou, Evangelos (University of Southern California), Malhotra, Mark (University of Washington), Todorov, Emanuel (University of Washington), Matsuoka, Yoky (University of Washington)

Tendon-Driven Control of Biomechanical and Robotic Systems: A Path Integral Reinforcement Learning Approach

Scheduled for presentation during the Regular Session "Applied Machine Learning" (TuA06), Tuesday, May 15, 2012, 08:45−09:00, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Multifingered Hands, Biologically-Inspired Robots, Robust/Adaptive Control of Robotic Systems

Abstract

We apply path integral reinforcement learning to a biomechanically accurate dynamics model of the index finger and then to the Anatomically Correct Testbed (ACT) robotic hand. We illustrate the applicability of Policy Improvement with Path Integrals to parameterized and non-parameterized control policies. This method is based on sampling variations in control, executing them in the real world, and minimizing a cost function on the resulting performance. Iteratively improving the control policy based on real-world performance requires no direct modeling of tendon network nonlinearities and contact transitions, allowing improved task performance.

 

 

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