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Robot End-Effectors Adaptive Design Method Based on Embedding Domain Knowledge into Reinforcement Learning
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DOI：10.3390/s26061933.png)
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Abstract
En 中文
Existing robot end-effectors design methods lack structured domain prior knowledge support and have insufficient interaction with the environment, making it difficult to guarantee the accuracy of the design results. An adaptive design method is proposed that deeply embeds domain knowledge of end effectors into the design process, treats key design parameters as environmental variables, and optimizes them adaptively through reinforcement learning algorithms in perception and feedback. In a simulation environment constructed by combining a knowledge graph, a two-finger translational gripper is used as an example robot end-effector to acquire target data via sensors, and reinforcement learning is used to adaptively optimize the gripper's key parameters. Experiments are conducted on a simulation platform with three typical tasks, yielding the optimal parameter range. Compared to the proximal policy optimization (PPO) algorithm, which has no prior knowledge input, the knowledge graph embedding proximal policy optimization (KGPPO) algorithm improves the average reward for gripper length and gripper force by 63.96% and 43.09%, respectively, for grasping eggs. The KGPPO algorithm achieves the highest average reward and the best stability compared with other algorithms. Experiments show that this method can significantly improve the efficiency, stability, and accuracy of design parameter optimization.
Keywords:
adaptive design
robot end-effector
knowledge graph
reinforcement learning
environmental interaction