2017年12月
Rough control of underactuated serial-type double inverted pendulum using state-action pair prediction
IEEJ Transactions on Electronics, Information and Systems
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- 巻
- 137
- 号
- 12
- 開始ページ
- 1617
- 終了ページ
- 1624
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1541/ieejeiss.137.1617
- 出版者・発行元
- Institute of Electrical Engineers of Japan
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.
- リンク情報
- ID情報
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- DOI : 10.1541/ieejeiss.137.1617
- ISSN : 1348-8155
- ISSN : 0385-4221
- SCOPUS ID : 85036453481