An Enhanced GRU Model With Application to Manipulator Trajectory Tracking
Keywords:Trajectory tracking, gated recurrent unit (GRU), neural hidden state, gate unit, robot manipulators
Service robots, e.g. massage robots, have attracted more and more attention in recent years and the most popular study within this field is trajectory tracking. Due to the actual demand for service robots, the solution of trajectory tracking requires fast convergence and high accuracy. In order to solve the above issues, this paper proposed an enhanced Gated recurrent unit (GRU) to deal with trajectory tracking tasks of robot manipulators. The main feature of enhanced GRU is utilizing cell states as well as various gate units to build a novel neural cell. Besides, the presented enhanced GRU resolves the problem of the general neural network model and large memory occupancy. Then the derivations about the computational process of cell state and mixed hidden state of the proposed model have been illustrated. Finally, three trajectory tracking applications, comparison, and visual simulation have verified feasibility as well as the superiority of the enhanced GRU model.
How to Cite
Copyright (c) 2022 EAI Endorsed Transactions on AI and Robotics
This work is licensed under a Creative Commons Attribution 3.0 Unported License.
This is an open access article distributed under the terms of the CC BY-NC-SA 4.0, which permits copying, redistributing, remixing, transformation, and building upon the material in any medium so long as the original work is properly cited.