arXiv:1808.02200
Deep Learning with Predictive Control for Human Motion Tracking
Deep Learning with Predictive Control for Human Motion Tracking
著者: Don Joven Agravante, Giovanni De Magistris, Asim Munawar, Phongtharin Vinayavekhin, Ryuki Tachibana
分類: cs.RO
原文アブストラクト
We propose to combine model predictive control with deep learning for the task of accurate human motion tracking with a robot. We design the MPC to allow switching between the learned and a conservative prediction. We also explored online learning with a DyBM model. We applied this method to human handwriting motion tracking with a UR-5 robot. The results show that the framework significantly improves tracking performance.