Variable Admittance Interaction Control of UAVs via Deep Reinforcement Learning
Yuting Feng,Chuanbeibei Shi,Jianrui Du,Yushu Yu,Fuchun Sun,Yixu Song,Yuting Feng,Chuanbeibei Shi,Jianrui Du,Yushu Yu,Fuchun Sun,Yixu Song
A compliant control model based on reinforcement learning (RL) is proposed to allow robots to interact with the environment more effectively and autonomously execute force control tasks. The admittance model learns an optimal adjustment policy for interactions with the external environment using RL algorithms. The model combines energy consumption and trajectory tracking of the agent state using a...
