Context Dependent Trajectory Generation using Sequence-to-Sequence Models for Robotic Toilet Cleaning

Pin Chu Yang, Nishanth Koganti, Gustavo Alfonso Garcia Ricardez, Masaki Yamamoto, Jun Takamatsu, Tsukasa Ogasawara

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

A robust, easy-to-deploy robot for service tasks in a real environment is difficult to construct. Record-and-playback (RP) is a method used to teach motor-skills to robots for performing service tasks. However, RP methods do not scale to challenging tasks where even slight changes in the environment, such as localization errors, would either require trajectory modification or a new demonstration. In this paper, we propose a Sequence-to-Sequence (Seq2Seq) based neural network model to generate robot trajectories in configuration space given a context variable based on real-world measurements in Cartesian space. We use the offset between a target pose and the actual pose after localization as the context variable. The model is trained using a few expert demonstrations collected using teleoperation. We apply our proposed method to the task of toilet cleaning where the robot has to clean the surface of a toilet bowl using a compliant end-effector in a constrained toilet setting. In the experiments, the model is given a novel offset context and it generates a modified robot trajectory for that context. We demonstrate that our proposed model is able to generate trajectories for unseen setups and the executed trajectory results in cleaning of the toilet bowl.

本文言語English
ホスト出版物のタイトル29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ932-937
ページ数6
ISBN(電子版)9781728160757
DOI
出版ステータスPublished - 2020 8月
外部発表はい
イベント29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020 - Virtual, Naples, Italy
継続期間: 2020 8月 312020 9月 4

出版物シリーズ

名前29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020

Conference

Conference29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020
国/地域Italy
CityVirtual, Naples
Period20/8/3120/9/4

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 社会心理学
  • 通信

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