2023
DOI: 10.3389/frobt.2023.1066518
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Curriculum-reinforcement learning on simulation platform of tendon-driven high-degree of freedom underactuated manipulator

Abstract: A high degree of freedom (DOF) benefits manipulators by presenting various postures when reaching a target. Using a tendon-driven system with an underactuated structure can provide flexibility and weight reduction to such manipulators. The design and control of such a composite system are challenging owing to its complicated architecture and modeling difficulties. In our previous study, we developed a tendon-driven, high-DOF underactuated manipulator inspired from an ostrich neck referred to as the Robostrich … Show more

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