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
    Country/TerritoryKorea, Republic of
    CityBusan
    Period20/10/1320/10/16

    Bibliographical note

    Funding Information:
    This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622)

    Publisher Copyright:
    © 2020 Institute of Control, Robotics, and Systems - ICROS.

    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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