Robotic writing based on trust region optimization and imitation learning

Min Gyu Yang, Kuk Hyun Ahn, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

As the use of robots in service area increases, it is necessary to replace human tasks in daily life with robots. Among them, this study focuses on writing and aims to write alphabets on the blackboard with chalk using a 7-DOF robot arm. In chalk writing, it is necessary to regulate the contact force measured between chalk and blackboard within appropriate value, so that the desired letters can be written consistently in the desired thickness. To this end, the deep reinforcement learning algorithm, proximal policy optimization (PPO) was used as a height regulator for the end-effector of a robot to control the contact force between the chalk and the blackboard. Moreover, imitation learning network which is trained using human handwritten data, was used as a planar path generator. The performance of the proposed height regulator and planar path generator was verified by experiments.

Original languageEnglish
Title of host publication2020 20th International Conference on Control, Automation and Systems, ICCAS 2020
PublisherIEEE Computer Society
Pages132-136
Number of pages5
ISBN (Electronic)9788993215205
DOIs
Publication statusPublished - 2020 Oct 13
Event20th International Conference on Control, Automation and Systems, ICCAS 2020 - Busan, Korea, Republic of
Duration: 2020 Oct 132020 Oct 16

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2020-October
ISSN (Print)1598-7833

Conference

Conference20th International Conference on Control, Automation and Systems, ICCAS 2020
CountryKorea, Republic of
CityBusan
Period20/10/1320/10/16

Keywords

  • Deep learning
  • Imitation learning
  • Reinforcement learning
  • Robotics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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