TY - GEN
T1 - LSTM Learning of Inverse Dynamics with Contact in Various Environments
AU - Furuta, Daichi
AU - Kutsuzawa, Kyo
AU - Sakaino, Sho
AU - Tsuji, Toshiaki
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/17
Y1 - 2018/10/17
N2 - A machine learning method has been introduced to solve the problem of inverse dynamics with contact in various environments. Conventional methods need multiple contact models to switch according to situations, while such methods have a difficulty in dealing with different environments. We propose a machine learning method that can handle various environments with a single learning model. We use long short-term memory as a learning model with high expression ability. From the verification, the proposed method showed higher performance than Gaussian processes. In addition, the performance of the model was improved by using training data collected under various environmental conditions.
AB - A machine learning method has been introduced to solve the problem of inverse dynamics with contact in various environments. Conventional methods need multiple contact models to switch according to situations, while such methods have a difficulty in dealing with different environments. We propose a machine learning method that can handle various environments with a single learning model. We use long short-term memory as a learning model with high expression ability. From the verification, the proposed method showed higher performance than Gaussian processes. In addition, the performance of the model was improved by using training data collected under various environmental conditions.
UR - http://www.scopus.com/inward/record.url?scp=85057186097&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85057186097&partnerID=8YFLogxK
U2 - 10.1109/MECATRONICS.2018.8495698
DO - 10.1109/MECATRONICS.2018.8495698
M3 - Conference contribution
AN - SCOPUS:85057186097
T3 - Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
SP - 149
EP - 154
BT - Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
Y2 - 10 September 2018 through 12 September 2018
ER -