深層学習を用いた要素動作の統合手法の開発

抄録

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.