Implementation of assembly task based on guided policy search algorithm

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 工业控制网络与系统研究室

	Implementation of assembly task based on guided policy search algorithm
	Dong QW(董青卫)1,3,4,5; Zang CZ(臧传治)2; Zeng P(曾鹏)1,3,4; Wan GX(万广喜)1,3,4,5; He YP(贺云鹏)1,3,4,5; Dong XT(董晓婷)1,3,4,5
	2021
会议日期	October 13-16, 2021
会议地点	Toronto, ON, Canada
关键词	Assembly Tasks Reinforcement Learning Robot Policy Search
页码	1-6
英文摘要	At present, safely solving complex and high-precision assembly tasks in an unstructured environment is still an unresolved challenge. The development of artificial intelligence technology provides new ideas for robots in unstructured scenes to autonomously solve the problem of contact-rich peg-in-hole tasks. In this paper, we construct the shaft hole assembly task as a reinforcement learning problem, explore the change of the convergence rate when adding force and torque information in the state space, and evaluate the performance of the guided policy search algorithm on the shaft hole assembly task. We also compared the changes in the force and torque feedback from sensors at the beginning and end of learning. The experiment proves that we can complete the specific shaft hole assembly task by learning, and also shows the effectiveness of using the force and torque information when the peg and hole parts are in contact.
源文献作者	IEEE Ind Elect Soc
产权排序	1
会议录	IECON 2021 - 47TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY
会议录出版者	IEEE
会议录出版地	New　York
语种	英语
ISSN号	1553-572X
ISBN号	978-1-6654-3554-3
WOS记录号	WOS:000767230604055
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/30822]
专题	沈阳自动化研究所_工业控制网络与系统研究室
通讯作者	Zang CZ(臧传治)
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 2.Shenyang University of Technology, Shenyang 110870, China 3.Key Laboratory of Networked Control Systems, Chinese Academy of Sciences, Shenyang 110016, China 4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 5.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	Dong QW,Zang CZ,Zeng P,et al. Implementation of assembly task based on guided policy search algorithm[C]. 见:. Toronto, ON, Canada. October 13-16, 2021.