Artificial Intelligence for Robotics

How do we pick actions?

What actions can the robot arm perform? We have three motors, and we have three options for each motor. We can do nothing – that is, not move at all. We can move counterclockwise, which will make our motor angle smaller, and we can move clockwise, which makes our motor angle larger.

Note: most servo motors treat positive position changes as clockwise rotation. Thus, if we command the rotation to change from 200 to 250 degrees, the motor will turn clockwise 50 degrees.

Our action space for each motion of the robot arm is to move each motor either left, right, or not at all. This gives us 27 combinations with three motors (3 x 3 x 3 possible actions). We will note this with an action matrix. Each action will have three ...