Art

J-GLOBAL ID：201702268937597806   Reference number：17A1950658

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

状態行動対予測を用いた不連続型双倒立振子の粗制御

Author (6)： Sugimoto Masashi (National Institute of Technology, Kagawa College) ,  Iwamoto Naoya (National Institute of Technology, Kagawa College) ,  Johnston Robert W. (National Institute of Technology, Kagawa College) ,  Kanazawa Keizo (National Institute of Technology, Kagawa College) ,  Misaki Yukinori (Toyohashi University of Technology) ,  Kurashige Kentarou (Muroran Institute of Technology)
Material： 電気学会論文誌 C  (IEEJ Transactions on Electronics, Information and Systems)
Volume： 137  Issue： 12  Page： 1617-1624(J-STAGE)  Publication year： 2017 
JST Material Number： S0810A  ISSN： 0385-4221  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Abstract/Point： In order to work effectively, ...

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Thesaurus term： *automatic control ,  *mobile robot ,  *forecast ,  mobile communication ,  remote control ,  *state estimation ,  *inverted pendulum ,  discontinuity ,  *on-line control
Semi thesaurus term： mobile robot control ,  *action anticipation

Author keywords (6)： 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

JST classification (2)： Motion and control of robots  (IC04012J) ,  Artificial intelligence  (JE08000Z)

Reference (17)：

• (1) P. Pivoňka, V. Veleba, M. Šeda, P. Ošmera, and R. Matoušek: “The short sampling period in adaptive control”, in Proceedings of the World Congress on Engineering and Computer Science 2009, Vol. II, WCECS, pp. 724-729 (2009)
• (2) A. L. Blum and P. Langley: “Selection of relevant features and examples in machine learning”, Artificial Intelligence, Vol. 97, No. 1-2, pp. 245-271 (1997)
• (3) L. Sentis and O. Khatib: “A Whole-Body Control Framework for Humanoids Operating in Human Environments”, in Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp. 2641-2648 (2006)
• (4) T, Komura, et al.: “A Muscle-based Feed-forward Controller of the Human Body”, Computer Graphics Forum, Vol. 16, No. 3, pp. 165-176 (1997)
• (5) M. Sugimoto and K. Kurashige: “The proposal for prediction of internal robot state based on internal state and action”, in Proceedings of IWACIII2013 CD-ROM, SS1-2 (2013)

Terms in the title (4)： 行動 ,  予測 ,  不連続 ,  倒立振子