Information: Join today and make your research activities more affordable! Technical workshop participation fees and annual registration fees are available at member rates.
Notice: [Important] Announcement of Changes to Registration Fee Payment and Manuscript Upload Procedures for IEICE Technical Meetings
IEICE Technical Committee Submission System
Conference Paper's Information		 Online Proceedings
[Sign in]
Tech. Rep. Archives
 Go Top Page Go Previous   [Japanese] / [English] 

Paper Abstract and Keywords
Presentation 2024-05-16 14:55
Force Adjustment Control in Cooperative Work between Remote Robot Systems with Force Feedback -- Application of Reinforcement Learning --
Hitoshi Ohnishi (OUJ), Hiroya Kato, Yutaka Ishibashi (Nagoya Institute of Technology), Pingguo Huang (Gifu Shotoku Gakuen Univ.) CQ2024-7
Abstract (in Japanese) (See Japanese page) 
(in English) In this study, two systems each of which remotely controls an industrial robot arm using a haptic interface device that provides force feedback are used to perform object pinching and carrying tasks. To prevent excessive force from being applied to the object and the object from falling because the pinching force is too weak, we introduce a force adjustment control system that autonomously controls the pinching force of the robot arm.
The control law of the force adjustment control was obtained by manual adjustment through trial and error and by reinforcement learning (Deep Q-Learning Network; DQN). To examine the effect of force adjustment control, we compared the control performance of the three methods without force control, in addition to the two methods with force adjustment control by varying the network delay. The results showed that force adjustment control was able to suppress the application of excessive force to the object. In the comparison between the control law obtained by manual adjustment and the control law obtained by DQN, the control law obtained by manual adjustment had better control performance. It is suggested that there is room for improvement in the acquisition method of training data and the architecture of the DQN for acquiring control laws by the DQN.
Keyword (in Japanese) (See Japanese page) 
(in English) remote robot system / force feedback / force adjustment control / reinforcement learning / Deep Q-Learning Network (DQN) / / /  
Reference Info. IEICE Tech. Rep., vol. 124, no. 31, CQ2024-7, pp. 24-29, May 2024.
Paper # CQ2024-7 
Date of Issue 2024-05-09 (CQ) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CQ2024-7

Conference Information
Committee CQ CS  
Conference Date 2024-05-16 - 2024-05-17 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To CQ 
Conference Code 2024-05-CQ-CS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Force Adjustment Control in Cooperative Work between Remote Robot Systems with Force Feedback 
Sub Title (in English) Application of Reinforcement Learning 
Keyword(1) remote robot system  
Keyword(2) force feedback  
Keyword(3) force adjustment control  
Keyword(4) reinforcement learning  
Keyword(5) Deep Q-Learning Network (DQN)  
Keyword(6)  
Keyword(7)  
Keyword(8)  
1st Author's Name Hitoshi Ohnishi  
1st Author's Affiliation The Open University of Japan (OUJ)
2nd Author's Name Hiroya Kato  
2nd Author's Affiliation Nagoya Institute of Technology (Nagoya Institute of Technology)
3rd Author's Name Yutaka Ishibashi  
3rd Author's Affiliation Nagoya Institute of Technology (Nagoya Institute of Technology)
4th Author's Name Pingguo Huang  
4th Author's Affiliation Gifu Shotoku Gakuen University (Gifu Shotoku Gakuen Univ.)
5th Author's Name  
5th Author's Affiliation ()
6th Author's Name  
6th Author's Affiliation ()
7th Author's Name  
7th Author's Affiliation ()
8th Author's Name  
8th Author's Affiliation ()
9th Author's Name  
9th Author's Affiliation ()
10th Author's Name  
10th Author's Affiliation ()
11th Author's Name  
11th Author's Affiliation ()
12th Author's Name  
12th Author's Affiliation ()
13th Author's Name  
13th Author's Affiliation ()
14th Author's Name  
14th Author's Affiliation ()
15th Author's Name  
15th Author's Affiliation ()
16th Author's Name  
16th Author's Affiliation ()
17th Author's Name  
17th Author's Affiliation ()
18th Author's Name  
18th Author's Affiliation ()
19th Author's Name  
19th Author's Affiliation ()
20th Author's Name  
20th Author's Affiliation ()
21st Author's Name  
21st Author's Affiliation ()
22nd Author's Name  
22nd Author's Affiliation ()
23rd Author's Name  
23rd Author's Affiliation ()
24th Author's Name  
24th Author's Affiliation ()
25th Author's Name  
25th Author's Affiliation ()
26th Author's Name / /
26th Author's Affiliation ()
()
27th Author's Name / /
27th Author's Affiliation ()
()
28th Author's Name / /
28th Author's Affiliation ()
()
29th Author's Name / /
29th Author's Affiliation ()
()
30th Author's Name / /
30th Author's Affiliation ()
()
31st Author's Name / /
31st Author's Affiliation ()
()
32nd Author's Name / /
32nd Author's Affiliation ()
()
33rd Author's Name / /
33rd Author's Affiliation ()
()
34th Author's Name / /
34th Author's Affiliation ()
()
35th Author's Name / /
35th Author's Affiliation ()
()
36th Author's Name / /
36th Author's Affiliation ()
()
Speaker Author-1 
Date Time 2024-05-16 14:55:00 
Presentation Time 25 minutes 
Registration for CQ 
Paper # CQ2024-7 
Volume (vol) vol.124 
Number (no) no.31 
Page pp.24-29 
#Pages 6 
Date of Issue 2024-05-09 (CQ) 

[Return to Top Page]

[Return to IEICE Web Page]
The Institute of Electronics, Information and Communication Engineers (IEICE), Japan