• The Journal of Korea Robotics Society
• /
• v.12 no.2
• /
• pp.239-247
• /
• 2017

The purpose of this study is to develop a motion generation technique based on a double inverted pendulum model (DIPM) that learns and reproduces humanoid robot (or virtual human) motions while keeping its balance in a pattern similar to a human. DIPM consists of a cart and two inverted pendulums, connected in a serial. Although the structure resembles human upper- and lower-body, the balancing motion in DIPM is different from the motion that human does. To do this, we use the motion capture data to obtain the reference motion to keep the balance in the existence of external force. By an optimization technique minimizing the difference between the motion of DIPM and the reference motion, control parameters of the proposed method were learned in advance. The learned control parameters are re-used for the control signal of DIPM as input of linear quadratic regulator that generates a similar motion pattern as the reference. In order to verify this, we use virtual human experiments were conducted to generate the motion that naturally balanced.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2192-2197
• /
• 2003

This paper suggests remote experiments using the internet for the control education. The remote experiment is composed of equipment server computers, networks accessible to internet, and real plants such as inverted pendulums, crane systems and microcontrollers. Additionally, it requires a server program that has I/O functions with plants and calculate the control, an interface program bridging between web and the server program, and the home page including the detail explanation for the usage. For effective educations, how to perform experiments and how to combine the experiment with lectures will be discussed. The simple experiments by entering a few control parameters and the complex experiments by designing overall controls, will be explained. Technologies related with the remote experiment and other possible remote experiment will be introduced. It is demonstrated that the remote experiment will be very useful, particular for control education where students have difficulties in performing the experiments for lack of experimental equipments.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.1
• /
• pp.1-4
• /
• 2010

Based on the sliding mode control theory, a decentralized controller design method is developed for a large scale system with a poly topic model. In terms of LMIs, we derive sufficient conditions for the existence of the decentralized controller guaranteeing a stable sliding motion. We also give an LMI-based control design algorithm. Finally, the proposed method is applied to decentralized stabilization of double-inverted pendulums. Simulation results show that our method gives not only the robust stability but perfect rejection of norm-bounded uncertainties.