Musculoskeletal AutoEncoder: A Unified Online Acquisition Method of Intersensory Networks for State Estimation, Control, and Simulation of Musculoskeletal Humanoids
| Autor: | Kei Tsuzuki, Yuki Asano, Kei Okada, Kento Kawaharazuka, Moritaka Onitsuka, Koji Kawasaki, Masayuki Inaba |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science Control (management) Biomedical Engineering 02 engineering and technology Machine learning computer.software_genre Extended Kalman filter 020901 industrial engineering & automation Artificial Intelligence 0202 electrical engineering electronic engineering information engineering Artificial neural network business.industry Mechanical Engineering Autoencoder Computer Science Applications Human-Computer Interaction Control and Systems Engineering Robot 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition State (computer science) Artificial intelligence business computer Humanoid robot |
| Zdroj: | IEEE Robotics and Automation Letters. 5:2411-2418 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2020.2972841 |
| Popis: | While the musculoskeletal humanoid has various biomimetic benefits, the modeling of its complex structure is difficult, and many learning-based systems have been developed so far. There are various methods, such as control methods using acquired relationships between joints and muscles represented by a data table or neural network, and state estimation methods using Extended Kalman Filter or table search. In this letter, we construct a Musculoskeletal AutoEncoder representing the relationship among joint angles, muscle tensions, and muscle lengths, and propose a unified method of state estimation, control, and simulation of musculoskeletal humanoids using it. By updating the Musculoskeletal AutoEncoder online using the actual robot sensor information, we can continuously conduct more accurate state estimation, control, and simulation than before the online learning. We conducted several experiments using the musculoskeletal humanoid Musashi, and verified the effectiveness of this study. |
| Databáze: | OpenAIRE |
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