Predicting object dynamics from visual images through active sensing experiences

Shun Nishide, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

Prediction of dynamic features is an important task for determining the manipulation strategies of an object. This paper presents a technique for predicting dynamics of objects relative to the robot's motion from visual images. During the learning phase, the authors use Recurrent Neural Network with Parametric Bias (RNNPB) to self-organize the dynamics of objects manipulated by the robot into the PB space. The acquired PB values, static images of objects, and robot motor values are input into a hierarchical neural network to link the static images to dynamic features (PB values). The neural network extracts prominent features that induce each object dynamics. For prediction of the motion sequence of an unknown object, the static image of the object and robot motor value are input into the neural network to calculate the PB values. By inputting the PB values into the closed loop RNNPB, the predicted movements of the object relative to the robot motion are calculated sequentially. Experiments were conducted with the humanoid robot Robovie-IIs pushing objects at different heights. Reducted grayscale images and shoulder pitch angles were input into the neural network to predict the dynamics of target objects. The results of the experiment proved that the technique is efficient for predicting the dynamics of the objects.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages2501-2506
Number of pages6
DOIs
Publication statusPublished - 2007 Nov 27
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Nishide, S., Ogata, T., Tani, J., Komatani, K., & Okuno, H. G. (2007). Predicting object dynamics from visual images through active sensing experiences. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 2501-2506). [4209459] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363841