Online motion selection for semi-optimal stabilization using reverse-time tree

Chyon Hae Kim, Hiroshi Tsujino, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper presents a general method for creating an approximately optimal online stabilization system. An optimal stabilization system is an ideal online system that can calculate each optimal motion leading to a stable mechanical goal state depending on the current state. We propose a system that selects each semi-optimal motion according to the current state from a reverse-time tree. To create the reverse-time tree, we applied rapid semi-optimal motion planning method (RASMO) to a reverse-time search from a stable state. We also developed an online motion selection technique. To validate the proposed method, we simulated the stabilization of a double inverted pendulum. When we used an optimization criteria, time optimal, the system quickly stabilized the pendulum's posture and velocity. When we used higher resolution RASMO, the time approached the optimal time. The general framework proposed here is applicable to a variety of machines.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages3792-3799
Number of pages8
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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