eprintid: 10077833 rev_number: 32 eprint_status: archive userid: 608 dir: disk0/10/07/78/33 datestamp: 2023-06-16 11:38:51 lastmod: 2023-06-16 11:38:51 status_changed: 2023-06-16 11:38:51 type: proceedings_section metadata_visibility: show creators_name: Iyengar, K creators_name: Dwyer, G creators_name: Stoyanov, D title: A Deep Reinforcement Learning Approach for Inverse Kinematics of Concentric Tube Robots ispublished: pub divisions: UCL divisions: B04 divisions: C05 divisions: F48 keywords: deep reinforcement learning, robot kinematics, deterministic policy gradient note: This work is subjected to copyright. It is published as an open-access publication under the “Creative Commons Attribution 4.0 International” license. abstract: Concentric tube robots are composed of multiple telescopic, concentric, precurved, 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, 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), a deep reinforcement learning algorithm, 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. date: 2019-03-22 publisher: CRAS official_url: https://cras-eu.org/wp-content/uploads/2019/11/CRAS_2019_proceedings_official.pdf oa_status: green full_text_type: other language: eng primo: open primo_central: open_green verified: verified_manual elements_id: 1672274 isbn_13: 9789491857041 lyricists_name: Dwyer, George lyricists_name: Iyengar, Keshav lyricists_name: Stoyanov, Danail lyricists_id: GDWYE41 lyricists_id: KKIYE80 lyricists_id: DSTOY26 actors_name: Iyengar, Keshav actors_id: KKIYE80 actors_role: owner full_text_status: public place_of_pub: Genoa, Italy pagerange: 95-96 event_title: CRAS 2019 : 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery event_location: Genoa, Italy event_dates: 21 March 2019 - 22 March 2019 institution: CRAS 2019 : 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery book_title: Proceedings of the 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery citation: Iyengar, K; Dwyer, G; Stoyanov, D; (2019) A Deep Reinforcement Learning Approach for Inverse Kinematics of Concentric Tube Robots. In: Proceedings of the 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery. (pp. pp. 95-96). CRAS: Genoa, Italy. Green open access document_url: https://discovery.ucl.ac.uk/id/eprint/10077833/1/CRAS_2019_paper_43.pdf