Task Space Control of Hydraulic Construction Machines Using Reinforcement Learning

EasyChair Preprint 10590

Abstract

Teleoperation is vital in the construction industry, allowing safe machine manipulation from a distance. However, controlling machines at a joint level requires extensive training due to their complex degrees of freedom. Task space control offers intuitive maneuvering, but precise control often requires dynamic models, posing challenges for hydraulic machines. To address this, we use a data-driven actuator model to capture machine dynamics in real-world operations. By integrating this model into simulation and reinforcement learning, an optimal control policy for task space control is obtained. Experiments with Brokk 170 validate the framework, comparing it to a well-known Jacobian-based approach.

Keyphrases: Reinforcement Learning, Teleoperation, construction robot

@booklet{EasyChair:10590,
  author    = {Hyung Joo Lee and Sigrid Brell-Cokcan},
  title     = {Task Space Control of Hydraulic Construction Machines Using Reinforcement Learning},
  howpublished = {EasyChair Preprint 10590},
  year      = {EasyChair, 2023}}