Sequence-To-sequence models for trajectory deformation of dynamic manipulation

Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji

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

6 Citations (Scopus)

Abstract

In dynamic manipulation, robots can manipulate objects without grasping by utilizing inertia effect. However, the trajectory planning for dynamic manipulation is a difficult issue due to dynamic constraint. Trajectory deformation considering dynamic constraint after original trajectories are generated is necessary for the issue. To realize such deformation methods, we introduce on sequence-To-sequence (seq2seq) models, which can convert a time series to another time series. This paper proposes a trajectory deformation method with seq2seq models deforming trajectories to satisfy dynamic constraint. Users can obtain trajectories for dynamic manipulation by designing outlines of motion and inputting them to the proposed seq2seq model. In addition, this paper proposes a learning curriculum that does not need labeled dataset. Only mathematical representation of constraint and unlabeled trajectories are necessary. We implement a seq2seq model by the proposed method to a robot turning over pancakes and confirm the validity by a simulation and an experiment.

Original languageEnglish
Title of host publicationProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5227-5232
Number of pages6
ISBN (Electronic)9781538611272
DOIs
Publication statusPublished - 2017 Dec 15
Externally publishedYes
Event43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
Duration: 2017 Oct 292017 Nov 1

Publication series

NameProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
Volume2017-January

Conference

Conference43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
CountryChina
CityBeijing
Period17/10/2917/11/1

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Control and Optimization
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

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