Soheil Ganjefar

Deep Reinforcement Learning for Adaptive Gain Tuning in Control of Teleoperation Manipulators with Joint Flexibility and Time-Varying Delays

Armin Attarzadeh, Mohammad Ali Ghaemifar, Alireza Khanzadeh, Soheil Ganjefar

Bilateral teleoperation systems that include joint flexibility better reflect real robotic systems used in surgery, space, and rehabilitation. However, joint flexibility together with time-varying communication delays makes it difficult to maintain stable and coordinated motion b…Read more