作者
Zih-Yun Chiu, Florian Richter, Emily K Funk, Ryan K Orosco, Michael C Yip
发表日期
2021/5/30
研讨会论文
2021 IEEE International Conference on Robotics and Automation (ICRA)
页码范围
7737-7743
出版商
IEEE
简介
Regrasping a suture needle is an important yet time-consuming process in suturing. To bring efficiency into regrasping, prior work either designs a task-specific mechanism or guides the gripper toward some specific pick-up point for proper grasping of a needle. Yet, these methods are usually not deployable when the working space is changed. Therefore, in this work, we present rapid trajectory generation for bimanual needle regrasping via reinforcement learning (RL). Demonstrations from a sampling-based motion planning algorithm is incorporated to speed up the learning. In addition, we propose the ego-centric state and action spaces for this bimanual planning problem, where the reference frames are on the end-effectors instead of some fixed frame. Thus, the learned policy can be directly applied to any feasible robot configuration. Our experiments in simulation show that the success rate of a single pass is 97 …
学术搜索中的文章
ZY Chiu, F Richter, EK Funk, RK Orosco, MC Yip - 2021 IEEE International Conference on Robotics and …, 2021