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.
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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.
| Type: | Proceedings paper |
|---|---|
| Title: | A Deep Reinforcement Learning Approach for Inverse Kinematics of Concentric Tube Robots |
| Event: | CRAS 2019 : 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery |
| Location: | Genoa, Italy |
| Dates: | 21 March 2019 - 22 March 2019 |
| ISBN-13: | 9789491857041 |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://cras-eu.org/wp-content/uploads/2019/11/CRA... |
| Language: | English |
| Additional information: | This work is subjected to copyright. It is published as an open-access publication under the “Creative Commons Attribution 4.0 International” license. |
| Keywords: | deep reinforcement learning, robot kinematics, deterministic policy gradient |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10077833 |
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