论文标题
用于机器人学习和控制的分析性毒素模型
An analytical diabolo model for robotic learning and control
论文作者
论文摘要
在本文中，我们提出了一个Diabolo模型，该模型可用于模拟中的训练代理，以播放Diabolo，并在真实的双机器人臂系统上运行它。我们首先得出了Diabolo-string系统的分析模型，并使用通过运动捕获记录的数据比较了其精度，我们将其作为熟练游戏的公共数据集释放，并具有不同动力学的Diabolos。我们表明，我们的模型在精度和身体一致的行为方面都优于基于学习的预测指标。接下来，我们描述一种基于最佳控制的方法，以生成产生所需的Diabolo轨迹的机器人轨迹，以及将高级动作转换为机器人运动的系统。最后，我们通过播放Diabolo并将其扔给人类玩家来测试真正的机器人系统上的方法。
In this paper, we present a diabolo model that can be used for training agents in simulation to play diabolo, as well as running it on a real dual robot arm system. We first derive an analytical model of the diabolo-string system and compare its accuracy using data recorded via motion capture, which we release as a public dataset of skilled play with diabolos of different dynamics. We show that our model outperforms a deep-learning-based predictor, both in terms of precision and physically consistent behavior. Next, we describe a method based on optimal control to generate robot trajectories that produce the desired diabolo trajectory, as well as a system to transform higher-level actions into robot motions. Finally, we test our method on a real robot system by playing the diabolo, and throwing it to and catching it from a human player.
