Trajectory adjustment for nonprehensile manipulation using latent space of trained sequence-to-sequence model*

K. Kutsuzawa, S. Sakaino, T. Tsuji

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

When robots are used to manipulate objects in various ways, they often have to consider the dynamic constraint. Machine learning is a good candidate for such complex trajectory planning problems. However, it sometimes does not satisfy the task objectives due to a change in the objective or a lack of guarantee that the objective functions will be satisfied. To overcome this issue, we applied a method of trajectory deformation by using sequence-to-sequence (seq2seq) models. We propose a method of adjusting the generated trajectories, by utilizing the architecture of seq2seq models. The proposed method optimizes the latent variables of the seq2seq models instead of the trajectories to minimize the given objective functions. The verification results show that the use of latent variables can obtain the desired trajectories faster than direct optimization of the trajectories.

Original languageEnglish
Pages (from-to)1144-1154
Number of pages11
JournalAdvanced Robotics
Volume33
Issue number21
DOIs
Publication statusPublished - 2019 Nov 2
Externally publishedYes

Keywords

  • latent variable
  • motion optimization
  • neural network
  • Nonprehensile manipulation
  • sequence-to-sequence model

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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