?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=A+Deep+Reinforcement+Learning+Approach+for+Inverse+Kinematics+of+Concentric+Tube+Robots&rft.creator=Iyengar%2C+K&rft.creator=Dwyer%2C+G&rft.creator=Stoyanov%2C+D&rft.description=Concentric+tube+robots+are+composed+of+multiple+telescopic%2C+concentric%2C+precurved%2C+superelastic+tubes+that+can+be+axially+translated+and+rotated+at+their+base+relative+to+each+other.+Kinematic+modelling+of+such+tubes+is+non-trivial+due+to+the+interaction+of+individual+tubes+with+neighboring+tubes%2C+to+form+unique+bending+curves.+Previous+research+has+used+conventional+iterative+Jacobian+methods+but+challenges+of+determining+exact+material+properties+to+determine+tube+interactions+remain.+We+propose+the+use+of+deep+deterministic+policy+gradient+(DDPG)%2C+a+deep+reinforcement+learning+algorithm%2C+to+learn+the+inverse+kinematics+directly.+DDPG+has+been+shown+to+work+well+in+high+dimensional+continuous+space+action+problems+in+robotics.+DDPG+will+be+evaluated+with+accuracy+criteria+for+inverse+kinematics+over+different+training+periods+as+well+as+different+tube+configurations.&rft.subject=deep+reinforcement+learning%2C+robot+kinematics%2C+deterministic+policy+gradient&rft.publisher=CRAS&rft.date=2019-03-22&rft.type=Proceedings+paper&rft.publisher=CRAS+2019+%3A+9th+Joint+Workshop+on+New+Technologies+for+Computer%2FRobot+Assisted+Surgery&rft.language=eng&rft.source=+++++In%3A++Proceedings+of+the+9th+Joint+Workshop+on+New+Technologies+for+Computer%2FRobot+Assisted+Surgery.++(pp.+pp.+95-96).++CRAS%3A+Genoa%2C+Italy.+(2019)+++++&rft.format=text&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10077833%2F1%2FCRAS_2019_paper_43.pdf&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10077833%2F&rft.rights=open