Sensory-Motor Learning for Simultaneous Control of Motion and Force: Generating Rubbing Motion against Uneven Object

Hiroshi Ito, Takumi Kurata, Tetsuya Ogata

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

We propose a motion generation model for simultaneous control of motion and force using deep learning. Conventional force control methods require expensive torque sensors and complex control theory, and implementing force control for each task requires huge development costs. In this paper, we realize rubbing motions against an uneven object at low cost by using a motion generation method that takes as input the joint angles and current values of an inexpensive servo motor. We evaluated the generalization ability of the model by confirming that the robot can perform rubbing motions against unlearned uneven or tilted objects. In addition, by comparing several motion generation models, we clarified that the following two components are important for simultaneous control of motion and force. (1) The joint angles and the current values are input to different neuron layers to extract the features. A time constant, which is the speed of information transfer, is set for each layer in order to integrate and learn input information with different time characteristics. (2) In the output part of the model, a single neuron layer is used to predict the joint angle and current value simultaneously. This makes it easy to extract features and integrate learning from two inputs with different time characteristics, and the robot can generate appropriate motions based on the contact situation in real time.

本文言語English
ホスト出版物のタイトル2022 IEEE/SICE International Symposium on System Integration, SII 2022
出版社Institute of Electrical and Electronics Engineers Inc.
ページ408-415
ページ数8
ISBN(電子版)9781665445405
DOI
出版ステータスPublished - 2022
イベント2022 IEEE/SICE International Symposium on System Integration, SII 2022 - Virtual, Narvik, Norway
継続期間: 2022 1月 92022 1月 12

出版物シリーズ

名前2022 IEEE/SICE International Symposium on System Integration, SII 2022

Conference

Conference2022 IEEE/SICE International Symposium on System Integration, SII 2022
国/地域Norway
CityVirtual, Narvik
Period22/1/922/1/12

ASJC Scopus subject areas

  • 人工知能
  • ハードウェアとアーキテクチャ
  • 生体医工学
  • 制御およびシステム工学
  • 機械工学
  • 制御と最適化

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