Robotic arms are widely used in various aspects of human-robot collaboration. The primary goal of this study is to explore the usability of robotic arms for delivering objects to humans in dynamic environments. Traditional robotic arms often face limitations in path planning, such as difficulties adapting to dynamic environments and complex developmental processes. To overcome these challenges, this study employs reinforcement learning (RL) to train four models-the Approach RL Model, Delivery RL Model, Decision RL Model, and Merged Model-as alternatives to conventional path planning control. Typically, there exists a significant discrepancy between simulated data and real-world features. Although image segmentation can substantially reduce the gap between virtual and real environments, notable differences remain in hand features. Therefore, to further bridge the simulation-to-reality gap, this study applies CycleGAN to transform real hand features into virtual hand features, thereby enhancing the model's transferability. Experimental results show that the Decision RL Model achieved an accuracy of 99.17%, while the Merged Model achieved 99.92%. The proposed method effectively improves the stability and accuracy of human-robot collaboration in complex scenarios. Overall, this study validates the feasibility of integrating RL, image segmentation, and image translation techniques, offering a scalable and efficient task-solving solution for robotic arms in highly dynamic application domains.
Kuo et al. (Thu,) studied this question.