Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator
Ruturaj Sambhus,Aydin Gokce,Stephen Welch,Connor W. Herron,Alexander Leonessa,Ruturaj Sambhus,Aydin Gokce,Stephen Welch,Connor W. Herron,Alexander Leonessa
Many state-of-the-art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to instability due to nonlinearities in the SEA where cascaded model-based robust controllers can remove these effects to achieve stable force control. However, these mode...
