2022
DOI: 10.3390/aerospace9060315
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Research on Dual-Arm Control of Lunar Assisted Robot Based on Hierarchical Reinforcement Learning under Unstructured Environment

Abstract: When a lunar assisted robot helps an astronaut turn over or transports the astronaut from the ground, the trajectory of the robot’s dual arms should be automatically planned according to the unstructured environment on the lunar surface. In this paper, a dual-arm control strategy model of a lunar assisted robot based on hierarchical reinforcement learning is proposed, and the trajectory planning problem is modeled as a two-layer Markov decision process. In the training process, a reward function design method … Show more

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Cited by 5 publications
(1 citation statement)
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“…Research [24] entitled "Design and Build a [24][25] [25] which took the title "Design and Built a Prototype of Robotic Arm Control (Robotic Arm) as an Internet Of Things Based Goods Transfer". These two studies have differences in the control system, where one uses Android as a robotic arm drive, while the other uses IoT, namely the blink application.…”
Section: Introductionmentioning
confidence: 99%
“…Research [24] entitled "Design and Build a [24][25] [25] which took the title "Design and Built a Prototype of Robotic Arm Control (Robotic Arm) as an Internet Of Things Based Goods Transfer". These two studies have differences in the control system, where one uses Android as a robotic arm drive, while the other uses IoT, namely the blink application.…”
Section: Introductionmentioning
confidence: 99%