For dynamic manipulation of flexible objects, we propose an acquisition method of a flexible object motion equation model using a deep neural network and a control method to realize a target state by calculating an optimized time-series joint torque command. By using the proposed method, any physics model of a target object is not needed, and the object can be controlled as intended. We applied this method to manipulations of a rigid object, a flexible object with and without environmental contact, and a cloth, and verified its effectiveness.
@article{arxiv.1901.10142,
title = {Dynamic Manipulation of Flexible Objects with Torque Sequence Using a Deep Neural Network},
author = {Kento Kawaharazuka and Toru Ogawa and Juntaro Tamura and Cota Nabeshima},
journal= {arXiv preprint arXiv:1901.10142},
year = {2024}
}