Statistical Characteristics of Biomimetic Image-Based Inverted Pendulum Control Systems Using Just-In-Time Method | Zendy

Shun Ushida | Zendy; Ken Fukuda | Zendy; Koichiro Deguchi | Zendy

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Statistical Characteristics of Biomimetic Image-Based Inverted Pendulum Control Systems Using Just-In-Time Method

Author(s) -

Shun Ushida,

Ken Fukuda,

Koichiro Deguchi

Publication year - 2008

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2008.p0420

Subject(s) - inverted pendulum , intermittency , control theory (sociology) , computer science , robot , task (project management) , visual servoing , pendulum , focus (optics) , artificial intelligence , intermittent control , control (management) , control engineering , engineering , nonlinear system , physics , mechanical engineering , systems engineering , optics , quantum mechanics , turbulence , thermodynamics

In attempting to statistically answer the question, “In what ways should robots attempt or imitate human-like behavior?” We focus on a human stick-balancing task and a biomimetic visual servoing system for the stabilization of an inverted pendulum. In particular, we applied proportional and differential (PD) and Just-In-Time (JIT) control, which is a memory-based scheme. This method can stabilize the inverted pendulum for a certain period of time, similar to the case of humans. We analyzed the behavior of such mechanical systems statistically to determine the on-off intermittency and the power law in the human stick-balancing task. Statistically analyzing pendulum behavior may enable us to interpret human motor control.

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