Applications of deep reinforcement learning in the control of robotic manipulators

Dofbot - Ball balance Experiment in Control of Robotic Manipulators Using Deep Reinforcement Learning

1 - The beginning

• I made some modifications on Yahboom-Dofbot to attach a rail;
• Using OpenCV and a camera I developed a code to read the position of the ball and return an error
• Using Python I coded a simple PID using basics of electronics
  • Video:

2 - PID Simulation

Simple PID Simulation

3 DRL- Training

Deep Reinforciment Learning using Pytorch

3 - Behind Artificial Intelligence

Trained Dueling-DQN example:

Environment used: https://github.com/simon-larsson/ballbeam-gym