Dynamic motion generation by flexible-joint robot based on deep learning using images

Yuheng Wu, Kuniyuki Takahashi, Hiroki Yamada, Kitae Kim, Shingo Murata, Shigeki Sugano, Tetsuya Ogata

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Robots with flexible joints have recently been attracting attention from researchers because such robots can passively adapt to environmental changes and realize dynamic motion that uses inertia. In previous research, body-model acquisition using deep learning was proposed and dynamic motion learning was achieved. However, using the end-effector position as a visual feedback signal to train a robot limits what the robot can know to only the relation between the task and itself, instead of the relation between the environment and itself. In this research, we propose to use images as a feedback signal so that the robot can have a sense of the overall situation within the task environment. This motion learning is performed via deep learning using raw image data. In an experiment, we let a robot perform task motions once to acquire motor and image data. Then, we used a convolutional auto-encoder to extract image features from raw image data. The extracted image features were used in combination with motor data to train a recurrent neural network. As a result, motion learning through deep learning from image data allowed the robot to acquire environmental information and conduct tasks that require consideration of environmental changes, making use of its advantage of passive adaptation.

本文言語English
ホスト出版物のタイトル2018 Joint IEEE 8th International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ169-174
ページ数6
ISBN(電子版)9781538661109
DOI
出版ステータスPublished - 2018 9
イベントJoint 8th IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2018 - Tokyo, Japan
継続期間: 2018 9 162018 9 20

出版物シリーズ

名前2018 Joint IEEE 8th International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2018

Conference

ConferenceJoint 8th IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2018
国/地域Japan
CityTokyo
Period18/9/1618/9/20

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識
  • 制御と最適化
  • 行動神経科学
  • 発達神経科学
  • 人工知能

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