Generating Basic Unit Movements with Conditional Generative Adversarial Networks  

作　　者：LUO Dingsheng NIE Mengxi WU Xihong 

机构地区：[1]Key Laboratory of Machine Perception (Ministry of Education), Speech and Hearing Research Center,Department of Machine Intelligence, School of EECS, Peking University

出　　处：《Chinese Journal of Electronics》2019年第6期1099-1107,共9页电子学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.U1713217,No.11590773)

摘　　要：Arm motion control is fundamental for robot accomplishing complicated manipulation tasks.Different movements can be organized by configuring a series of motion units.Our work aims at equipping the robot with the ability to carry out Basic unit movements(BUMs),which are used to constitute various motion sequences so that the robot can drive its hand to a desired position.With the definition of BUMs,we explore a learning approach for the robot to develop such an ability by leveraging deep learning technique.In order to generate the BUM regarding to the current arm state,an internal inverse model is developed.We propose to use Conditional generative adversarial networks(CGANs)to establish the inverse model to generate the BUMs.The experimental results on a humanoid robot PKU-HR6.0Ⅱillustrate that CGANs could successfully generate multiple solutions given a BUM,and these BUMs can be used to constitute further reaching movement effectively.Arm motion control is fundamental for robot accomplishing complicated manipulation tasks.Different movements can be organized by configuring a series of motion units. Our work aims at equipping the robot with the ability to carry out Basic unit movements(BUMs), which are used to constitute various motion sequences so that the robot can drive its hand to a desired position. With the definition of BUMs, we explore a learning approach for the robot to develop such an ability by leveraging deep learning technique. In order to generate the BUM regarding to the current arm state,an internal inverse model is developed. We propose to use Conditional generative adversarial networks(CGANs) to establish the inverse model to generate the BUMs. The experimental results on a humanoid robot PKU-HR6.0Ⅱ illustrate that CGANs could successfully generate multiple solutions given a BUM, and these BUMs can be used to constitute further reaching movement effectively.

关 键 词：Arm motion control Basic UNIT movements Deep learning CGANs INVERSE model HUMANOIDS 

分 类 号：TN[电子电信]