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In this paper, an assist system for a four-limbed robot is proposed for remote operation of reaching and grasping electric drills using deep reinforcement learning. Through comparative evaluation experiments, the increase of success rate for reaching and grasping is verified and the decrease in both physical and mental workload of the operator is also validated by the index of NASA-TLX.<\/jats:p>","DOI":"10.1017\/s0263574721000618","type":"journal-article","created":{"date-parts":[[2021,6,4]],"date-time":"2021-06-04T09:06:23Z","timestamp":1622797583000},"page":"365-376","source":"Crossref","is-referenced-by-count":2,"title":["Assist system for remote manipulation of electric drills by the robot \u201cWAREC-1R\u201d using deep reinforcement learning"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3674-9422","authenticated-orcid":false,"given":"Xiao","family":"Sun","sequence":"first","affiliation":[]},{"given":"Hiroshi","family":"Naito","sequence":"additional","affiliation":[]},{"given":"Akio","family":"Namiki","sequence":"additional","affiliation":[]},{"given":"Yang","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Takashi","family":"Matsuzawa","sequence":"additional","affiliation":[]},{"given":"Atsuo","family":"Takanishi","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,6,4]]},"reference":[{"key":"S0263574721000618_ref11","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.049"},{"key":"S0263574721000618_ref18","doi-asserted-by":"publisher","DOI":"10.1038\/nature14236"},{"key":"S0263574721000618_ref7","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720000703"},{"key":"S0263574721000618_ref10","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000985"},{"key":"S0263574721000618_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2017.8088159"},{"key":"S0263574721000618_ref1","unstructured":"[1] Terae, K. , Matsubara, T. , Hashimoto, K. , Kubota, N. , Namiki, A. , Sun, X. , Matsuzawa, T. , Imai, A. , Okawara, M. , Kimura, S. , Kumagai, K. , Yamaguchi, K. , Naito, H. , Namura, K. , Sato, T. , Murakami, M. , Yoshida, S. and Takanishi, A. , \u201cDevelopment of Disaster Response Robot for Extreme Environments (27th Report: Body Mechanism Containing Batteries and Enabling Wireless Operation with Multi-sensor System),\u201d The 37th Annual Conference of the Robotics Society of Japan, 1G2-01 (2019, in Japanese)."},{"key":"S0263574721000618_ref13","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919887447"},{"key":"S0263574721000618_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2017.8088167"},{"key":"S0263574721000618_ref14","unstructured":"[14] Redmon, J. and Farhadi, A. , \u201cYolov3: An incremental improvement,\u201d CoRR, abs\/1804.02767 (2018)."},{"key":"S0263574721000618_ref2","unstructured":"[2] Tough Robotics Challenge (TRC). https:\/\/www.jst.go.jp\/impact\/en\/program\/07.html. 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