Dynamic Cloth Manipulation Considering Variable Stiffness and Material Change Using Deep Predictive Model With Parametric Bias.
Dynamic Cloth Manipulation Considering Variable Stiffness and Material Change Using Deep Predictive Model With Parametric Bias.
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DOI：
10.3389/fnbot.2022.890695
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发表时间：
2022
影响因子：
3.1
通讯作者：
Inaba, Masayuki
中科院分区：
文献类型：
--
作者：
Kawaharazuka, Kento;Miki, Akihiro;Bando, Masahiro;Okada, Kei;Inaba, Masayuki
关键词：
织物等柔性物体的动态操纵是机器人领域的主要挑战之一，而织物的建模是一个难点。随着深度学习的发展，我们开始在模拟和一些实际机器人中看到结果，但仍然有许多问题尚未解决。人类可以熟练地利用灵活的身体高速移动手臂，即使要操纵的材料发生变化，也可以在多次移动并了解其特性后操纵材料。因此，在本研究中，我们重点关注以下两点：（1）使用可变刚度机构的身体控制，以实现更动态的操纵，以及（2）使用参数偏差对操纵对象材料变化的响应。通过将这两种方法纳入深度预测模型，我们通过模拟和实际机器人实验表明，Musashi-W是一种具有可变刚度机制的肌肉骨骼人形机器人，可以动态操纵布料，同时检测被操纵对象的物理特性变化。
Dynamic manipulation of flexible objects such as fabric, which is difficult to modelize, is one of the major challenges in robotics. With the development of deep learning, we are beginning to see results in simulations and some actual robots, but there are still many problems that have not yet been tackled. Humans can move their arms at high speed using their flexible bodies skillfully, and even when the material to be manipulated changes, they can manipulate the material after moving it several times and understanding its characteristics. Therefore, in this research, we focus on the following two points: (1) body control using a variable stiffness mechanism for more dynamic manipulation, and (2) response to changes in the material of the manipulated object using parametric bias. By incorporating these two approaches into a deep predictive model, we show through simulation and actual robot experiments that Musashi-W, a musculoskeletal humanoid with a variable stiffness mechanism, can dynamically manipulate cloth while detecting changes in the physical properties of the manipulated object.
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影响因子：
7.8
作者：
Saha, Mitul;Isto, Pekka
通讯作者：
Isto, Pekka
DOI：
10.1109/34.9107
发表时间：
1988-11-01
影响因子：
23.6
作者：
BORGEFORS, G
通讯作者：
BORGEFORS, G
影响因子：
5.2
作者：
Kawaharazuka, Kento;Kawamura, Yoichiro;Inaba, Masayuki
通讯作者：
Inaba, Masayuki
影响因子：
3.5
作者：
Braun, David;Howard, Matthew;Vijayakumar, Sethu
通讯作者：
Vijayakumar, Sethu
影响因子：
56.9
作者：
Hinton, G. E.;Salakhutdinov, R. R.
通讯作者：
Salakhutdinov, R. R.