Development of Integration Method of Element Motions using Deep Learning

摘要

Cooperation of multiple element motions is important for robots to realize various complicated tasks. Most of the researches focus on realizing a single and complicated element-motion using a motion-generating-model made of deep neural network. In this study, we propose an integration method for those models. We introduce a timing determiner to determine the execution timing of motion, as well as an autoencoder and a recurrent neural network in the model as the novel integration method. We have confirmed that a passing-through-door motion, cooperating multiple element-motions is accomplished by the method.