论文标题
利用可变阻抗来节能顺序运动
Exploiting Variable Impedance for Energy Efficient Sequential Movements
论文作者
论文摘要
合规机器人已经在节能运动和循环操作中成功应用。但是，尚未广泛解决对能源有效顺序运动的可变物理阻抗的开发。这项工作采用层次结构方法来封装低级最佳控制，以使子运动生成成为迭代政策改进的外部环路，从而利用了最佳控制和增强学习的好处。该框架可以通过考虑成本功能加权，可变阻抗利用和过渡时机来优化最小能源支出的效率折衷，这与合规技能相关。使用两个连续达到的任务在可变阻抗执行器上评估所提出的方法的有效性。结果表明，通过提高依从性的技能，通过在物理机器人实验中测得的30％的电量减少了大约30％，这表明了大量节能。
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed. This work employs a hierarchical approach to encapsulate low-level optimal control for sub-movement generation into an outer loop of iterative policy improvement, thereby leveraging the benefits of both optimal control and reinforcement learning. The framework enables optimizing efficiency trade-off for minimal energy expenses in a model-free manner, by taking account of cost function weighting, variable impedance exploitation, and transition timing -- which are associated with the skill of compliance. The effectiveness of the proposed method is evaluated using two consecutive reaching tasks on a variable impedance actuator. The results demonstrate significant energy saving by improving the skill of compliance, with an electrical consumption reduction of about 30% measured in a physical robot experiment.
