NDLI: Online learning of optimal robot behavior for object manipulation using mode switching

Content Provider	IEEE Xplore Digital Library
Author	Sekiguchi, T. Kobayashi, Y. Shimizu, A. Kaneko, T.
Copyright Year	2012
Description	Author affiliation: Shizuoka University, Japan (Kobayashi, Y.; Kaneko, T.) \|\| Tokyo University of Agriculture and Technology, Japan (Sekiguchi, T.; Shimizu, A.)
Abstract	This paper presents an optimal robot motion learning method that involves object manipulation where dynamics of robots and environment are unknown. The dynamics of the environment is acquired by the robot's experience through online learning. A reinforcement learning framework which incorporates model identification is proposed. Based on the learning framework, an idea of effective motion acquisition is proposed through decomposing the task by detecting ‘switching of dynamics’, which is called mode-switching. Object manipulation is divided into two modes, approaching to the object and pushing it toward the goal. This enables the robot to learn motions while reducing number of trials and to behave more dexterously by integrating modes, each of which was learned separately. The proposed learning method is evaluated in simulation of a wheeled robot. It was shown that appropriate motion for re-approaching and re-pushing to accurately move the object to the goal can be realized using the proposed idea of planning with mode switching.
Starting Page	61
Ending Page	66
File Size	884000
Page Count	6
File Format	PDF
ISBN	9781467327053
e-ISBN	9781467327060
DOI	10.1109/ROSE.2012.6402625
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-16
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Switches Approximation methods Mobile robots Trajectory Robot kinematics Optimal control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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