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Reconstructing State-Space from Movie Using Convolutional Autoencoder for Robot Control

  • Kazuma Takahara
  • Shuhei IkemotoEmail author
  • Koh Hosoda
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)

Abstract

In contrast with intensive studies for hardware development in soft robotics, approaches to construct a controller for soft robots has been relying on heuristics. One of the biggest reasons of this issue is that even reconstructing the state-space to describe the behavior is difficult. In this study, we propose a method to reconstruct state-space from movies using a convolutional autoencoder for robot control. In the proposed method, the process that reduces the number of dimensions of each frame in movies is regulated by additional losses making latent variables orthogonal each other and apt to model the forward dynamics. The proposed method was successfully validated through a simulation where a two links planar manipulator is modeled using the movie and controlled based on the forward model.

Keywords

State-space reconstruction Convolutional autoencoder 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Osaka UniversityToyonaka, OsakaJapan

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