Towards Safe Control of Continuum Manipulator Using Shielded Multiagent Reinforcement Learning

Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject to external interaction, potentially leading to poor control performance. In this letter, we investigate the feasibility...

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Veröffentlicht in:	arXiv.org 2021-06
Hauptverfasser:	Ji, Guanglin, Yan, Junyan, Du, Jingxin, Wanquan Yan, Chen, Jibiao, Lu, Yongkang, Rojas, Juan, Shing Shin Cheng
Format:	Artikel
Sprache:	eng
Schlagworte:	Degrees of freedom Learning Manipulators Multiagent systems Robot arms Robot control Robots Shielding Tracking
Online-Zugang:	Volltext
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