WEKO3
アイテム
Common Dimensional Autoencoder for Learning Redundant Muscle-Posture Mappings of Complex Musculoskeletal Robots
http://hdl.handle.net/10228/00008254
http://hdl.handle.net/10228/000082543ae1bcb4-a2c0-4829-bf62-e16efd8ef637
| 名前 / ファイル | ライセンス | アクション |
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10352618.pdf (1.5 MB)
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| アイテムタイプ | 学術雑誌論文 = Journal Article(1) | |||||||||||||
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| 公開日 | 2021-05-17 | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||
| 資源タイプ | journal article | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | Common Dimensional Autoencoder for Learning Redundant Muscle-Posture Mappings of Complex Musculoskeletal Robots | |||||||||||||
| 言語 | en | |||||||||||||
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| 言語 | eng | |||||||||||||
| 著者 |
Masuda, Hiroaki
× Masuda, Hiroaki× Hitzmann, Ame× Hosoda, Koh× 池本, 周平
WEKO
30354
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | It has been widely considered that a distinctive feature of musculoskeletal structures is that both the joint angle and stiffness can be changed by exploiting the agonistantagonist driving of the joint. However, musculoskeletal systems in animals and humans are typically highly complex, and the simple agonist-antagonist driving is rarely found. Therefore, in accordance with the increasing complexity of musculoskeletal robots, the feature that causes the robot to assume a posture with different stiffness values becomes difficult to achieve, owing to the difficulty in modeling the kinematics. Although datadriven approaches such as the neural network are regarded as suitable for modeling complex relationships, the training data are difficult to obtain because measuring joint stiffness is typically extremely difficult in contrast to measuring an actuator's state and posture. Hence, we herein propose the common dimensional autoencoder where the encoded feature exhibits identical dimensions to the original input vector. In the proposed network, in parallel with the original unsupervised training using the data of the actuators' states, supervised training at part of the encoded features is performed using posture data. Consequently, features expressing the redundancy of inverse kinematics appear at the remaining part of the encoded features without using data such as joint stiffness. The validity of the proposed method was confirmed successfully through an experiment using a 10 degrees-of-freedom complex musculoskeletal robot arm driven by pneumatic artificial muscles. | |||||||||||||
| 言語 | en | |||||||||||||
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| 内容記述タイプ | Other | |||||||||||||
| 内容記述 | IEEE/RSJ International Conference on Intelligent Robots and Systems (iROS2019), November 4 - 8, 2019, Macau, China | |||||||||||||
| 書誌情報 |
en : 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 発行日 2020-01-27 |
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| 出版社 | ||||||||||||||
| 出版者 | IEEE | |||||||||||||
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| 関連タイプ | isVersionOf | |||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.1109/IROS40897.2019.8968605 | |||||||||||||
| ISBN | ||||||||||||||
| 識別子タイプ | ISBN | |||||||||||||
| 関連識別子 | 978-1-7281-4004-9 | |||||||||||||
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| 識別子タイプ | ISBN | |||||||||||||
| 関連識別子 | 978-1-7281-4003-2 | |||||||||||||
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| 識別子タイプ | ISBN | |||||||||||||
| 関連識別子 | 978-1-7281-4005-6 | |||||||||||||
| 日本十進分類法 | ||||||||||||||
| 主題Scheme | NDC | |||||||||||||
| 主題 | 548 | |||||||||||||
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| 収録物識別子タイプ | PISSN | |||||||||||||
| 収録物識別子 | 2153-0858 | |||||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||||
| 収録物識別子 | 2153-0866 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | Copyright (c) 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | AM | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||||
| 査読の有無 | ||||||||||||||
| 値 | yes | |||||||||||||
| 研究者情報 | ||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/100001226_ja.html | |||||||||||||
| 論文ID（連携） | ||||||||||||||
| 値 | 10352618 | |||||||||||||
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| 値 | 8836 | |||||||||||||
