Truss Assembly by Space Robot and Task Error Recovery via Reinforcement Learning
スポンサーリンク
概要
- 論文の詳細を見る
This paper addresses an experimental system simulating a free-flying space robot, which has been constructed to study autonomous space robots. The experimental system consists of a space robot model, a frictionless table system, a computer system, and a vision sensor system. The robot model composed of two manipulators and a satellite vehicle can move freely on a two-dimensional planar table without friction by using air-bearings. The robot model has successfully performed the automatic truss structure construction including many jobs, e.g., manipulator berthing, component manipulation, arm trajectory control avoiding collision, assembly considering contact with the environment, etc. Moreover, even if the robot fails in a task planned in advance, the robot accomplishes it by task re-planning through reinforcement learning. The experiment demonstrates the possibility of the automatic construction and the usefulness of space robots
- IEEEの論文
IEEE | 論文
- Magnetic and Transport Properties of Nb/PdNi Bilayers
- Supersonic Ion Beam Driven by Permanent-Magnets-Induced Double Layer in an Expanding Plasma
- Surfactant Adsorption on Single-Crystal Silicon Surfaces in TMAH Solution: Orientation-Dependent Adsorption Detected by In Situ Infrared Spectroscopy
- Extended-range FMCW reflectometry using an optical loop with a frequency shifter
- Teachingless spray-painting of sculptured surface by an industrial robot