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Open AccessArticle

Position Control of Cable-Driven Robotic Soft Arm Based on Deep Reinforcement Learning

1
School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
2
Faculty of Control Systems and Robotics, ITMO University, St. Petersburg 197101, Russia
3
Department of Marine Electronics, State Marine Technical University, St. Petersburg 198262, Russia
4
Department of Integrated Information Security, Admiral Makarov State University of Maritime and Inland Shipping, St. Petersburg 198035, Russia
*
Author to whom correspondence should be addressed.
Information 2020, 11(6), 310; https://doi.org/10.3390/info11060310
Received: 20 April 2020 / Revised: 4 June 2020 / Accepted: 4 June 2020 / Published: 8 June 2020
The cable-driven soft arm is mostly made of soft material; it is difficult to control because of the material characteristics, so the traditional robot arm modeling and control methods cannot be directly applied to the soft robot arm. In this paper, we combine the data-driven modeling method with the reinforcement learning control method to realize the position control task of robotic soft arm, the method of control strategy based on deep Q learning. In order to solve slow convergence and unstable effect in the process of simulation and migration when deep reinforcement learning is applied to the actual robot control task, a control strategy learning method is designed, which is based on the experimental data, to establish a simulation environment for control strategy training, and then applied to the real environment. Finally, it is proved by experiment that the method can effectively complete the control of the soft robot arm, which has better robustness than the traditional method. View Full-Text
Keywords: cable-driven; reinforcement learning; soft arm; data-driven; deep Q learning cable-driven; reinforcement learning; soft arm; data-driven; deep Q learning
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Wu, Q.; Gu, Y.; Li, Y.; Zhang, B.; Chepinskiy, S.A.; Wang, J.; Zhilenkov, A.A.; Krasnov, A.Y.; Chernyi, S. Position Control of Cable-Driven Robotic Soft Arm Based on Deep Reinforcement Learning. Information 2020, 11, 310.

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