TY - GEN
T1 - Model predictive control based deep neural network for dynamic manipulation
AU - Furuta, Daichi
AU - Kutsuzawa, Kyo
AU - Okamoto, Tetsugaku
AU - Sakaino, Sho
AU - Tsuji, Toshiaki
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported in part by JSPS Grant-in-Aid for Scientific Research (B), No.16H04311.
Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - This paper proposes a trajectory planning method with neural networks that learn model predictive control for dynamic manipulation. The novelty of this method is that target positions and model parameters are added to the input of the neural network. The proposed method solves the dynamic trajectory planning issues with low calculation cost. This paper shows the effectiveness of the proposed method through demonstrations of a robot turning a pancake over under various parameters. In addition, we verify a performance change with respect to the number of training data.
AB - This paper proposes a trajectory planning method with neural networks that learn model predictive control for dynamic manipulation. The novelty of this method is that target positions and model parameters are added to the input of the neural network. The proposed method solves the dynamic trajectory planning issues with low calculation cost. This paper shows the effectiveness of the proposed method through demonstrations of a robot turning a pancake over under various parameters. In addition, we verify a performance change with respect to the number of training data.
UR - http://www.scopus.com/inward/record.url?scp=85046668391&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85046668391&partnerID=8YFLogxK
U2 - 10.1109/IECON.2017.8216902
DO - 10.1109/IECON.2017.8216902
M3 - Conference contribution
AN - SCOPUS:85046668391
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 5215
EP - 5220
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -