Model-free control for soft manipulators based on reinforcement learning

Xuanke You
Xuanke You
Xiaotong Chen
Xiaotong Chen
Zhanchi Wang
Zhanchi Wang

IROS, pp. 2909-2915, 2017.

Cited by: 8|Views29
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Abstract:

Most control methods of soft manipulators are developed based on physical models derived from mathematical analysis or learning methods. However, due to internal nonlinearity and external uncertain disturbances, it is difficult to build an accurate model, further, these methods lack robustness and portability among different prototypes. I...More

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