Diabolo Orientation Stabilization by Learning Predictive Model for Unstable Unknown-Dynamics Juggling Manipulation
Takayuki Murooka,Kei Okada,Masayuki Inaba,Takayuki Murooka,Kei Okada,Masayuki Inaba
Juggling manipulation is one of difficult manipulation to acquire since some of such manipulation is unstable and also its physical model is unknown due to the complex non-prehensile manipulation. To acquire these unstable unknown-dynamics juggling manipulation, we propose a method for designing the predictive model of manipulation with a deep neural network, and a real-time optimal control law wi...
