Sequence-to-Sequence Model for Trajectory Planning of Nonprehensile Manipulation Including Contact Model
Sequence-to-Sequence Model for Trajectory Planning of Nonprehensile Manipulation Including Contact Model
复制标题
用于包括接触模型的非综合操纵轨迹规划的序列到序列模型
DOI：
10.1109/lra.2018.2854958
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发表时间：
2018
影响因子：
5.2
通讯作者：
and Toshiaki Tsuji
中科院分区：
文献类型：
--
作者：
Kyo Kutsuzawa ;Sho Sakaino ;and Toshiaki Tsuji
机器人的非接触操作是人类日常生活中必不可少的。由于非连续操作需要同时满足运动学和动力学要求，因此沿给定路径沿着操作物体是困难的。以前的研究已经考虑了序列到序列模型，这是时间序列转换的神经网络的问题。然而，他们没有考虑非线性接触模型，如摩擦模型。当我们使用端到端反向传播训练seq2seq模型时，由于静摩擦，训练损失消失了。在这封信中，我们实现了顺序到顺序模型的轨迹规划的非连续操作，包括接触模型之间的机器人和目标对象。这封信提出了一个培训课程，在没有接触模型的情况下开始培训，将seq2seq模型带到梯度消失区之外。这封信讨论了滑动操作，其中包括物体和工具之间的摩擦模型，例如固定在机器人上的煎锅。我们通过模拟验证了所提出的课程。此外，我们还观察到，经过训练的seq2seq模型可以处理训练期间不存在的参数波动。
Nonprehensile manipulation is necessary for robots to operate in humans' daily lives. As nonprehensile manipulation should satisfy both kinematics and dynamics requirements simultaneously, it is difficult to manipulate objects along given paths. Previous studies have considered the problems with sequence-to-sequence models, which are neural networks for time-series conversion. However, they did not consider nonlinear contact models, such as friction models. When we train the seq2seq models using end-to-end backpropagation, training losses vanish owing to static friction. In this letter, we realize sequence-to-sequence models for trajectory planning of nonprehensile manipulation including contact models between the robots and target objects. This letter proposes a training curriculum that commences training without contact models to bring the seq2seq models outside of the gradient-vanishing zone. This letter discusses sliding manipulation, which includes a friction model between objects and tools, such as frying pans fixed onto the robots. We validated the proposed curriculum through a simulation. In addition, we observed that the trained seq2seq models could handle parameter fluctuations that did not exist during training.