Adaptation of Opeanai Gym for Moveo platform

Treball fi de màster de: Master in Intelligent Interactive Systems

Detalles Bibliográficos
Autor: Acera Mateos, Mario
Tipo de recurso: tesis de maestría
Fecha de publicación:2020
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10230/46326
Acceso en línea:http://hdl.handle.net/10230/46326
Access Level:acceso abierto
Palabra clave:Moveo
OpenAI
ROS
Openai-ROS
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oai_identifier_str oai:recercat.cat:10230/46326
network_acronym_str ES
network_name_str España
repository_id_str
spelling Adaptation of Opeanai Gym for Moveo platformAcera Mateos, MarioMoveoOpenAIROSOpenai-ROSTreball fi de màster de: Master in Intelligent Interactive SystemsTutor: Mario CeresaIn this project we aim to adap Openai Reinforcement Learning platform to the Moveo robot, a low-cost, 3D printed robotic manipulator. This research will widen the field of application of Moveo, concretely for robotics surgeries and also will make the research in robotics available and affordable for a large portion of the research community. Using only open-source technologies we experiment with the different required modules and pose the global architecture to train robots focused on manipulation with Reinforcement Learning techniques. This project is constructed by the combination of three main components: A real robot, a simulation platform and the Reinforcement Learning module. These components are interconnected using the robotic middleware ROS which will provide the corresponding communication interface. As a realistic simulation platform the Gazebo software is used. The Reinforcement Learning module is the OpenAI Gym which interfaces with ROS based robots through the package Openai-ROS. In this document we provide a detailed analysis of the functioning of the package Openai-ROS besides a robotic model in Gazebo with the corresponding functionalities for it to be used along with Openai-ROS and perform the training.202120212020info:eu-repo/semantics/masterThesisapplication/pdfapplication/pdfhttp://hdl.handle.net/10230/46326reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)InglésReconeixement-NoComercial-SenseObraDerivada 3.0 Espanya (CC BY-NC-ND 3.0 ES)https://creativecommons.org/licenses/by-nc-nd/3.0/esinfo:eu-repo/semantics/openAccessoai:recercat.cat:10230/463262026-05-29T05:05:01Z
dc.title.none.fl_str_mv Adaptation of Opeanai Gym for Moveo platform
title Adaptation of Opeanai Gym for Moveo platform
spellingShingle Adaptation of Opeanai Gym for Moveo platform
Acera Mateos, Mario
Moveo
OpenAI
ROS
Openai-ROS
title_short Adaptation of Opeanai Gym for Moveo platform
title_full Adaptation of Opeanai Gym for Moveo platform
title_fullStr Adaptation of Opeanai Gym for Moveo platform
title_full_unstemmed Adaptation of Opeanai Gym for Moveo platform
title_sort Adaptation of Opeanai Gym for Moveo platform
dc.creator.none.fl_str_mv Acera Mateos, Mario
author Acera Mateos, Mario
author_facet Acera Mateos, Mario
author_role author
dc.subject.none.fl_str_mv Moveo
OpenAI
ROS
Openai-ROS
topic Moveo
OpenAI
ROS
Openai-ROS
description Treball fi de màster de: Master in Intelligent Interactive Systems
publishDate 2020
dc.date.none.fl_str_mv 2020
2021
2021
dc.type.none.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv http://hdl.handle.net/10230/46326
url http://hdl.handle.net/10230/46326
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.rights.none.fl_str_mv Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya (CC BY-NC-ND 3.0 ES)
https://creativecommons.org/licenses/by-nc-nd/3.0/es
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya (CC BY-NC-ND 3.0 ES)
https://creativecommons.org/licenses/by-nc-nd/3.0/es
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.source.none.fl_str_mv reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,812429

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