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 Iiuan Kuo, Tzuu Hseng S. Li

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題Proceedings of 2014 International Conference on Machine Learning and Cybernetics, ICMLC 2014
發行者IEEE Computer Society
頁面714-720
頁數7
ISBN(電子)9781479942169
DOIs
出版狀態Published - 2014 一月 13
事件13th International Conference on Machine Learning and Cybernetics, ICMLC 2014 - Lanzhou, China
持續時間: 2014 七月 132014 七月 16

出版系列

名字Proceedings - International Conference on Machine Learning and Cybernetics
2
ISSN(列印)2160-133X
ISSN(電子)2160-1348

Other

Other13th International Conference on Machine Learning and Cybernetics, ICMLC 2014
國家China
城市Lanzhou
期間14-07-1314-07-16

All Science Journal Classification (ASJC) codes

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

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  • 引用此

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