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

    10 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 publicationIEEE International Conference on Intelligent Robots and Systems
    Pages3792-3799
    Number of pages8
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA
    Duration: 2011 Sep 252011 Sep 30

    Other

    Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
    CitySan Francisco, CA
    Period11/9/2511/9/30

    Fingerprint

    Stabilization
    Pendulums
    Motion planning
    Online systems

    ASJC Scopus subject areas

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

    Cite this

    Kim, C. H., Tsujino, H., & Sugano, S. (2011). Online motion selection for semi-optimal stabilization using reverse-time tree. In IEEE International Conference on Intelligent Robots and Systems (pp. 3792-3799). [6048415] https://doi.org/10.1109/IROS.2011.6048415

    Online motion selection for semi-optimal stabilization using reverse-time tree. / Kim, Chyon Hae; Tsujino, Hiroshi; Sugano, Shigeki.

    IEEE International Conference on Intelligent Robots and Systems. 2011. p. 3792-3799 6048415.

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

    Kim, CH, Tsujino, H & Sugano, S 2011, Online motion selection for semi-optimal stabilization using reverse-time tree. in IEEE International Conference on Intelligent Robots and Systems., 6048415, pp. 3792-3799, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, 11/9/25. https://doi.org/10.1109/IROS.2011.6048415
    Kim CH, Tsujino H, Sugano S. Online motion selection for semi-optimal stabilization using reverse-time tree. In IEEE International Conference on Intelligent Robots and Systems. 2011. p. 3792-3799. 6048415 https://doi.org/10.1109/IROS.2011.6048415
    Kim, Chyon Hae ; Tsujino, Hiroshi ; Sugano, Shigeki. / Online motion selection for semi-optimal stabilization using reverse-time tree. IEEE International Conference on Intelligent Robots and Systems. 2011. pp. 3792-3799
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