TIRL : Enriching Actor-Critic RL with non-expert human teachers\\ and a Trust Model

Author / Creator

RO-MAN 2021 (2021)

Conferences

RO-MAN 2021 Panel 5 - HuRoCops: Advanced human-robot cooperative and collaborative schemes in large-scale industrial manufacturing environments (2021)

Available as

Online

Summary

This work presents the improvements of Hydracer, a robot manipulator driven by electro-hydrostatic actuators, to achieve human-robot interaction. To solve the problems of Hydracer and to achieve fl...

This work presents the improvements of Hydracer, a robot manipulator driven by electro-hydrostatic actuators, to achieve human-robot interaction. To solve the problems of Hydracer and to achieve flexible force control, we worked on the system improvements: reduction of internal leakage by considering oil property, enhancement of reliability of ceramics components, and the parameter identification to improve its controllability. Flexible force control of Hydracer by zero-torque control with gravity compensation was realized.

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