A Novel Deep Reinforcement Learning-Based Path/Force Cooperative Regulation Framework for Dual-Arm Object Transportation

摘要

Dual-arm robots, with their high flexibility and broad operational range, are widely used in industrial and household transportation tasks. However, their high degrees of motion freedom and the closed-chain constraints formed during transportation pose challenges for path planning and force control. This study proposes a dual-agent control framework based on the Soft-Actor-Critic (SAC) algorithm of Deep Reinforcement Learning (DRL), where one agent is responsible for path planning and the other handles force control. This framework enables dual-arm robots to achieve dynamic obstacle avoidance, avoid unsolvable configurations and singularities, and generate efficient and smooth paths, while also fulfilling internal force tracking requirements based on task demands. Additionally, it addresses the gap in transferring the force control agent from simulation to real-world applications through a state mapping network, and the force control agent does not require retraining for different objects. Finally, the effectiveness of the proposed framework is validated through two scenes, including multiple bookshelves stacking and dynamic obstacle avoidance during the box transportation. Validation was also carried out with objects of different geometries and weights.