動作追従arXiv:1808.02200
予測制御と深層学習による人間動作の追従
Deep Learning with Predictive Control for Human Motion Tracking
モデル予測制御と深層学習を組み合わせ、学習予測と保守的予測を切り替える枠組みでロボットによる人間の手書き動作追従精度を向上させた。
著者: Don Joven Agravante, Giovanni De Magistris, Asim Munawar, Phongtharin Vinayavekhin, Ryuki Tachibana
分類: cs.RO
原文アブストラクト
We propose to combine model predictive control with deep learning for the task of accurate human motion tracking with a robot. We design the MPC to allow switching between the learned and a conservative prediction. We also explored online learning with a DyBM model. We applied this method to human handwriting motion tracking with a UR-5 robot. The results show that the framework significantly improves tracking performance.
