# Robot End-Effectors Adaptive Design Method Based on Embedding Domain Knowledge into Reinforcement Learning

## TL;DR

This paper introduces a new method for robot end-effector design that uses domain knowledge and reinforcement learning to improve accuracy and efficiency.

## Contribution

The novel approach integrates domain knowledge into reinforcement learning for adaptive robot end-effector design optimization.

## Key findings

- The KGPPO algorithm improved average reward for gripper length and force by 63.96% and 43.09% in grasping eggs.
- The method outperformed PPO in efficiency, stability, and accuracy for parameter optimization.
- Simulation experiments validated the effectiveness of embedding domain knowledge in reinforcement learning.

## Abstract

Existing robot end-effectors design methods lack structured domain prior knowledge support and have insufficient interaction with the environment, making it difficult to guarantee the accuracy of the design results. An adaptive design method is proposed that deeply embeds domain knowledge of end effectors into the design process, treats key design parameters as environmental variables, and optimizes them adaptively through reinforcement learning algorithms in perception and feedback. In a simulation environment constructed by combining a knowledge graph, a two-finger translational gripper is used as an example robot end-effector to acquire target data via sensors, and reinforcement learning is used to adaptively optimize the gripper’s key parameters. Experiments are conducted on a simulation platform with three typical tasks, yielding the optimal parameter range. Compared to the proximal policy optimization (PPO) algorithm, which has no prior knowledge input, the knowledge graph embedding proximal policy optimization (KGPPO) algorithm improves the average reward for gripper length and gripper force by 63.96% and 43.09%, respectively, for grasping eggs. The KGPPO algorithm achieves the highest average reward and the best stability compared with other algorithms. Experiments show that this method can significantly improve the efficiency, stability, and accuracy of design parameter optimization.