Statistical Characteristics of Biomimetic Image-Based Inverted Pendulum Control Systems Using Just-In-Time Method
Shun Ushida*, Ken-ichiro Fukuda**, and Koichiro Deguchi***
*Department of Mechanical Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi, Osaka 535-8585, Japan
**Sony Corporation, 1-7-1 Konan, Minato, Tokyo, Japan
***Tohoku University, 6-6-01 Aramaki-Aza-Aoba, Aoba, Sendai, Japan
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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