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Reinforcement learning approach to motion control of 2-link planer manipulator with a free joint

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3 Author(s)
T. Goto ; Dept. of Elec. & Comm. Eng., Tohoku Univ., Sendai, Japan ; H. Kamaya ; K. Abe

In this paper, reinforcement learning approach to motion control of 2-link planer underactuated manipulator is described. This manipulator has one passive joint and is difficult to control. The experiments of learning to control this manipulator by RL and human are executed. Using the experimental results, the associations between RL and human learning are considered.

Published in:

SICE 2004 Annual Conference  (Volume:2 )

Date of Conference:

4-6 Aug. 2004