Q-learning based object grasping control strategy for home service robot with rotatable waist

Ya Fang Ho; Chien Feng Huang; Yi Lun Huang; Sheng Pi Huang; Hsiang Ting Chen; Ping Huan Kuo; Tzuu Hseng S. Li

doi:10.1109/ICMLC.2014.7009698

Q-learning based object grasping control strategy for home service robot with rotatable waist

Ya Fang Ho, Chien Feng Huang, Yi Lun Huang, Sheng Pi Huang, Hsiang Ting Chen, Ping Huan Kuo, Tzuu Hseng S. Li

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, a Q-learning based object grasping strategy and control method is proposed for the home service robot with a rotatable waist. The home service robot May used in this study possesses 6-DOF arms, 2-DOF neck, a rotatable waist, the four-wheel independent steering and four-wheel independent drive mobile platform. In order to increase the coverage of grasping, this paper proposes the Q-learning controller to find the most suitable angle of waist for grasping the object By the grasping strategy, the position of end-effector is calibrated using an ultrasonic ranging module. Moreover, in order to avoid overload of servo motors, the home service robot May is able to utilize the other arm to assist when the object is really heavy. Finally, the experimental results demonstrate the feasibility and practicality of object grasping and control strategy.

Original language	English
Title of host publication	Proceedings of 2014 International Conference on Machine Learning and Cybernetics, ICMLC 2014
Publisher	IEEE Computer Society
Pages	714-720
Number of pages	7
ISBN (Electronic)	9781479942169
DOIs	https://doi.org/10.1109/ICMLC.2014.7009698
Publication status	Published - 2014 Jan 13
Event	13th International Conference on Machine Learning and Cybernetics, ICMLC 2014 - Lanzhou, China Duration: 2014 Jul 13 → 2014 Jul 16

Publication series

Name	Proceedings - International Conference on Machine Learning and Cybernetics
Volume	2
ISSN (Print)	2160-133X
ISSN (Electronic)	2160-1348

Other

Other	13th International Conference on Machine Learning and Cybernetics, ICMLC 2014
Country/Territory	China
City	Lanzhou
Period	14-07-13 → 14-07-16

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Human-Computer Interaction
Computer Networks and Communications
Computational Theory and Mathematics

Access to Document

10.1109/ICMLC.2014.7009698

Cite this

Ho, Y. F., Huang, C. F., Huang, Y. L., Huang, S. P., Chen, H. T., Kuo, P. H., & Li, T. H. S. (2014). Q-learning based object grasping control strategy for home service robot with rotatable waist. In Proceedings of 2014 International Conference on Machine Learning and Cybernetics, ICMLC 2014 (pp. 714-720). Article 7009698 (Proceedings - International Conference on Machine Learning and Cybernetics; Vol. 2). IEEE Computer Society. https://doi.org/10.1109/ICMLC.2014.7009698

@inproceedings{d9cfd9fd5b1640129e4ea97056d334e3,

title = "Q-learning based object grasping control strategy for home service robot with rotatable waist",

abstract = "In this paper, a Q-learning based object grasping strategy and control method is proposed for the home service robot with a rotatable waist. The home service robot May used in this study possesses 6-DOF arms, 2-DOF neck, a rotatable waist, the four-wheel independent steering and four-wheel independent drive mobile platform. In order to increase the coverage of grasping, this paper proposes the Q-learning controller to find the most suitable angle of waist for grasping the object By the grasping strategy, the position of end-effector is calibrated using an ultrasonic ranging module. Moreover, in order to avoid overload of servo motors, the home service robot May is able to utilize the other arm to assist when the object is really heavy. Finally, the experimental results demonstrate the feasibility and practicality of object grasping and control strategy.",

author = "Ho, {Ya Fang} and Huang, {Chien Feng} and Huang, {Yi Lun} and Huang, {Sheng Pi} and Chen, {Hsiang Ting} and Kuo, {Ping Huan} and Li, {Tzuu Hseng S.}",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 13th International Conference on Machine Learning and Cybernetics, ICMLC 2014 ; Conference date: 13-07-2014 Through 16-07-2014",

year = "2014",

month = jan,

day = "13",

doi = "10.1109/ICMLC.2014.7009698",

language = "English",

series = "Proceedings - International Conference on Machine Learning and Cybernetics",

publisher = "IEEE Computer Society",

pages = "714--720",

booktitle = "Proceedings of 2014 International Conference on Machine Learning and Cybernetics, ICMLC 2014",

address = "United States",

}

Ho, YF, Huang, CF, Huang, YL, Huang, SP, Chen, HT, Kuo, PH & Li, THS 2014, Q-learning based object grasping control strategy for home service robot with rotatable waist. in Proceedings of 2014 International Conference on Machine Learning and Cybernetics, ICMLC 2014., 7009698, Proceedings - International Conference on Machine Learning and Cybernetics, vol. 2, IEEE Computer Society, pp. 714-720, 13th International Conference on Machine Learning and Cybernetics, ICMLC 2014, Lanzhou, China, 14-07-13. https://doi.org/10.1109/ICMLC.2014.7009698

Q-learning based object grasping control strategy for home service robot with rotatable waist. / Ho, Ya Fang; Huang, Chien Feng; Huang, Yi Lun et al.
Proceedings of 2014 International Conference on Machine Learning and Cybernetics, ICMLC 2014. IEEE Computer Society, 2014. p. 714-720 7009698 (Proceedings - International Conference on Machine Learning and Cybernetics; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Q-learning based object grasping control strategy for home service robot with rotatable waist

AU - Ho, Ya Fang

AU - Huang, Chien Feng

AU - Huang, Yi Lun

AU - Huang, Sheng Pi

AU - Chen, Hsiang Ting

AU - Kuo, Ping Huan

AU - Li, Tzuu Hseng S.

PY - 2014/1/13

Y1 - 2014/1/13

N2 - In this paper, a Q-learning based object grasping strategy and control method is proposed for the home service robot with a rotatable waist. The home service robot May used in this study possesses 6-DOF arms, 2-DOF neck, a rotatable waist, the four-wheel independent steering and four-wheel independent drive mobile platform. In order to increase the coverage of grasping, this paper proposes the Q-learning controller to find the most suitable angle of waist for grasping the object By the grasping strategy, the position of end-effector is calibrated using an ultrasonic ranging module. Moreover, in order to avoid overload of servo motors, the home service robot May is able to utilize the other arm to assist when the object is really heavy. Finally, the experimental results demonstrate the feasibility and practicality of object grasping and control strategy.

AB - In this paper, a Q-learning based object grasping strategy and control method is proposed for the home service robot with a rotatable waist. The home service robot May used in this study possesses 6-DOF arms, 2-DOF neck, a rotatable waist, the four-wheel independent steering and four-wheel independent drive mobile platform. In order to increase the coverage of grasping, this paper proposes the Q-learning controller to find the most suitable angle of waist for grasping the object By the grasping strategy, the position of end-effector is calibrated using an ultrasonic ranging module. Moreover, in order to avoid overload of servo motors, the home service robot May is able to utilize the other arm to assist when the object is really heavy. Finally, the experimental results demonstrate the feasibility and practicality of object grasping and control strategy.

UR - http://www.scopus.com/inward/record.url?scp=84921441037&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84921441037&partnerID=8YFLogxK

U2 - 10.1109/ICMLC.2014.7009698

DO - 10.1109/ICMLC.2014.7009698

M3 - Conference contribution

AN - SCOPUS:84921441037

T3 - Proceedings - International Conference on Machine Learning and Cybernetics

SP - 714

EP - 720

BT - Proceedings of 2014 International Conference on Machine Learning and Cybernetics, ICMLC 2014

PB - IEEE Computer Society

T2 - 13th International Conference on Machine Learning and Cybernetics, ICMLC 2014

Y2 - 13 July 2014 through 16 July 2014

ER -

Ho YF, Huang CF, Huang YL, Huang SP, Chen HT, Kuo PH et al. Q-learning based object grasping control strategy for home service robot with rotatable waist. In Proceedings of 2014 International Conference on Machine Learning and Cybernetics, ICMLC 2014. IEEE Computer Society. 2014. p. 714-720. 7009698. (Proceedings - International Conference on Machine Learning and Cybernetics). doi: 10.1109/ICMLC.2014.7009698

Q-learning based object grasping control strategy for home service robot with rotatable waist

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this