Kinematic Reward, Measured Effort: Hardware-Validated RL Morphology Optimization of a Planar 2R Manipulator

Yoshikawa's Manipulability Index is generally used as a classical measure to define an optimal morphology of a manipulator. However, any such optimization is almost always studied as a purely kinematic quantity in simulation and is rarely validated on hardware.

초록에서 가져왔습니다. 요약을 준비 중입니다.