Dynamic Manipulation of Flexible Objects with Torque Sequence Using a Deep Neural Network

Kento Kawaharazuka; Toru Ogawa; Juntaro Tamura; Cota Nabeshima

ICRA 2019poster34 citations

Dynamic Manipulation of Flexible Objects with Torque Sequence Using a Deep Neural Network

Kento Kawaharazuka, Toru Ogawa, Juntaro Tamura, Cota Nabeshima

Abstract

For dynamic manipulation of flexible objects, we propose an acquisition method of a flexible object motion equation model using a deep neural network and a control method to realize a target state by calculating an optimized time-series joint torque command. By using the proposed method, any physics model of a target object is not needed, and the object can be controlled as intended. We applied this method to manipulations of a rigid object, a flexible object with and without environmental contact, and a cloth, and verified its effectiveness.

BibTeX

@inproceedings{icra2019_dynamicmanipulat,
  title = {Dynamic Manipulation of Flexible Objects with Torque Sequence Using a Deep Neural Network},
  author = {Kento Kawaharazuka and Toru Ogawa and Juntaro Tamura and Cota Nabeshima},
  booktitle = {ICRA 2019},
  year = {2019}
}