Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback
Rohit Dhakate,Christian Brommer,Christoph Bohm,Harald Gietler,Stephan Weiss,Jan Steinbrener,Rohit Dhakate,Christian Brommer,Christoph Bohm,Harald Gietler,Stephan Weiss,Jan Steinbrener
This article presents an entirely data-driven approach for autonomous control of redundant manipulators with hydraulic actuation. The approach only requires minimal system information, which is inherited from a simulation model. The non-linear hydraulic actuation dynamics are modeled using actuator networks from the data gathered during the manual operation of the manipulator to effectively emulat...
