Reinforcement learning of clothing assistance with a dual-arm robot

摘要

This study aims at robotic clothing assistance as it is yet an open field for robotics despite it is one of the basic and important assistance activities in daily life of elderly as well as disabled people. The clothing assistance is a challenging problem since robots must interact with non-rigid clothes generally represented in a high-dimensional space, and with the assisted person whose posture can vary during the assistance. Thus, the robot is required to manage two difficulties to perform the task of the clothing assistance: 1) handling of non-rigid materials and 2) adaptation of the assisting movements to the assisted person's posture. To overcome these difficulties, we propose to use reinforcement learning with the cloth's state which is low-dimensionally represented in topology coordinates, and with the reward defined in the low-dimensional coordinates. With our developed experimental system, for T-shirt clothing assistance, including an anthropomorphic dual-arm robot and a soft mannequin, we demonstrate the robot quickly learns a suitable arm motion for putting the mannequin's head into a T-shirt.