2リンク平面型劣駆動マニピュレータの学習制御

後藤 太邦; 釜谷 博行; 阿部 健一

doi:10.11511/jacc.47.0.60.0

47th Proceedings of the Japan Joint Automatic Control Conference

Session ID : 413

DOI https://doi.org/10.11511/jacc.47.0.60.0

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 43 Socies and Institutes

Learning Control of 2-Link Planer Underactuated Manipulator

*Takakuni Goto, Hiroyuki Kamaya, Kenichi Abe

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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

In this paper, reinforcement learning approach to motion control of 2-link planer underactuated manipulator is described. This manipulator has one passive joint and is difficult to control. The experiments of learning to control this manipulator by RL and human are executed. Using the experimental results, the machine learning algorithm reproducing human abilities is considered.

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