Motion Planning for Dual-Arm Robot Based on Soft Actor-Critic

doi:10.1109/ACCESS.2021.3056903

機構典藏 > College of Engineering > Graduate Institute & Department of Electrical Engineering > Journal Article > Item 987654321/120904

Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/120904

Title:	Motion Planning for Dual-Arm Robot Based on Soft Actor-Critic
Authors:	Ching-Chang Wong;Shao-Yu Chien;Hsuan-Ming Feng;Hisasuki Aoyama
Keywords:	Dual-arm robot;soft actor-critic (SAC);deep reinforcement learning (DRL);motion planning;self-collision avoidance
Date:	2021-02-03
Issue Date:	2021-08-03 12:11:40 (UTC+8)
Abstract:	In this paper, a motion planning method based on the Soft Actor-Critic (SAC) is designed for a dual-arm robot with two 7-Degree-of-Freedom (7-DOF) arms so that the robot can effectively avoid self-collision and at the same time can avoid the joint limits and singularities of the arm. The left-arm and right-arm of the dual-arm robot each have a neural network to control its position and orientation. Dual-agent training, distributed training structure, and progressive training environment are used to train neural networks. During the training process, the motion of one arm is regarded as the environment of the other arm, and the two agents are trained at the same time. In the input part of the neural network of the proposed method, all parameters come from the angle of each axis and kinematic calculation, no additional sensors are needed, so the method is easier to transplant to different dual-arm robots. With some appropriate neural network inputs and reward functions design, the robot can perform the expected self-collision avoidance and effectively avoid the joint limits and singularities of the arm. Finally, some experiments of the simulation tests in the Gazebo simulator and actual tests in a laboratory-made dual-arm robot are presented to illustrate the proposed SAC-based motion planning method is feasible and practicable in the avoidance of self-collision, joint limits, and singularities.
Relation:	IEEE Access 9, p.26871-26885
DOI:	10.1109/ACCESS.2021.3056903
Appears in Collections:	[Graduate Institute & Department of Electrical Engineering] Journal Article

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