Rough Control of Underactuated Serial-type Double Inverted Pendulum Using State-action Pair Prediction

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2017/12/01

タイトル(英語): Rough Control of Underactuated Serial-type Double Inverted Pendulum Using State-action Pair Prediction

著者名: Masashi Sugimoto (National Institute of Technology, Kagawa College), Naoya Iwamoto (National Institute of Technology, Kagawa College), Robert W. Johnston (National Institute of Technology, Kagawa College), Keizo Kanazawa (National Institute of Technology,

著者名(英語): Masashi Sugimoto (National Institute of Technology, Kagawa College), Naoya Iwamoto (National Institute of Technology, Kagawa College), Robert W. Johnston (National Institute of Technology, Kagawa College), Keizo Kanazawa (National Institute of Technology, Kagawa College), Yukinori Misaki (Toyohashi University of Technology), Kentarou Kurashige (Muroran Institute of Technology)

キーワード: Prediction of the State-action Pair，Online State Prediction，Prediction Using Combination of State Space and Action，Online SVR，Control Using State-Action Prediction，Serial-type Double Inverted Pendulum

要約(英語): In order to work effectively, a robot must be able to adapt to different environments by deciding the correct course of action in a given situation, using determinants other than pre-registered commands. That said, when considering an action decision based on a future prediction, it is necessary to determine the properties of a disturbance signal from the outside environment. Furthermore, determining the properties of a disturbance signal is dependent on the specifications of the target processor, in particular, its sensor resolution or processing ability. As humans, we often make a guess that face up to situations. In this case, we will explore rough adaptation to given situations. To apply this method to a robot, the ability to predict the future state of the robot is necessary. In this paper, we focus on control of a robot in an attempt to produce rough adaptation similar to that observed in humans. In particular, we consider the situation where a periodic disturbance signal occurs.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.137 No.12 （2017） 特集Ⅰ：電気・電子・情報関係学会東海支部連合大会　特集Ⅱ：国際会議ICESS2016

本誌掲載ページ: 1617-1624 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/137/12/137_1617/_article/-char/ja/