Remote machine two-arm system with imitation learning mechanism and method

Abstract

The invention discloses a remote machine two-arm system with an imitation learning mechanism and a method. The remote machine two-arm system comprises a demonstrator teaching module, a self-designed action executing module composed of two humanoid machine arms and a digital rudder controller, an XBOX360 body sensor perception module, a remote upper computer communication module and an imitation learning algorithm study module. The module independent power supply mode is adopted, demonstrators do demonstration actions in front of an XBOX360 sensor, the XBOX360 is used for collecting action dataof the demonstrators, and data processing is conducted on a local upper computer (server side); learning is performed through an imitation learning algorithm, and real-time communication is achievedthrough the server side and a remote upper computer (client side); and then the remote client side sends the data to the controller in real time through a serial port, and the controller receiving thedata is used for guiding the two machine arms to imitate and learn the teaching actions of the demonstrators. By means of the remote machine two-arm system with the imitation learning mechanism and the method, machine arm operation intelligence is improved; and meanwhile, operation efficiency of the machine arms in a dangerous space is greatly improved and actual application significance is realized.

Description

technical field [0001] The invention relates to a remote mechanical double-arm system and method with an imitation learning mechanism, belonging to the field of intelligent robots. Background technique [0002] Nowadays, the range of applications of robotic arms is more and more extensive. From traditional processing and manufacturing to the medical industry, from dangerous operations to outer space exploration, robotic arms play an important role. It can be said that the application of robotic arms has penetrated into many fields and directly affects all aspects of modern human life. . With the improvement of the intelligent requirements of the robotic arm, the robotic arm is getting closer to people. The intelligent problem of the robotic arm lies in how to adapt to the new environment independently, how to learn new skills independently, and how to improve the ability of autonomous operation. To achieve this requirement, the imitation learning control of the manipulator...

AI Technical Summary

Problems solved by technology

At the same time, during the operation of the robotic arm, its operating range is also limited.

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