TY - GEN
T1 - Learning-based Motion Stabilizer Leveraging Offline Temporal Optimization
AU - Ahn, Min Sung
AU - Chae, Hosik
AU - Togashi, Colin
AU - Hong, Dennis
AU - Kim, Joohyung
AU - Choi, Sungjoon
N1 - Funding Information:
*This work was supported by the ONR through grant N00014-15-1-2064.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - During loco-manipulation, instabilities to the robot's base can be introduced by the manipulator's motions. Trajectories that are generated on-the-fly may jeopardize the stability and safety of the robot and its surroundings. This work proposes a self-supervised learning-based pipeline to keep a robot stable while executing a given trajectory. Empirical results show that the desired objective can be achieved with the proposed pipeline. Experiments are done in simulation and on hardware on a unique multi-modal, manipulation-capable legged robot, and its scalability is tested on a conventional manipulator.
AB - During loco-manipulation, instabilities to the robot's base can be introduced by the manipulator's motions. Trajectories that are generated on-the-fly may jeopardize the stability and safety of the robot and its surroundings. This work proposes a self-supervised learning-based pipeline to keep a robot stable while executing a given trajectory. Empirical results show that the desired objective can be achieved with the proposed pipeline. Experiments are done in simulation and on hardware on a unique multi-modal, manipulation-capable legged robot, and its scalability is tested on a conventional manipulator.
UR - http://www.scopus.com/inward/record.url?scp=85136128521&partnerID=8YFLogxK
U2 - 10.1109/UR55393.2022.9826279
DO - 10.1109/UR55393.2022.9826279
M3 - Conference contribution
AN - SCOPUS:85136128521
T3 - 2022 19th International Conference on Ubiquitous Robots, UR 2022
SP - 129
EP - 136
BT - 2022 19th International Conference on Ubiquitous Robots, UR 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th International Conference on Ubiquitous Robots, UR 2022
Y2 - 4 July 2022 through 6 July 2022
ER -