Rough Control of Underactuated Serial-type Double Inverted Pendulum Using State-action Pair Prediction

Abstract

In order to work effectively, a robot must be able to adapt to different environments by deciding the correct course of action in a given situation, using determinants other than pre-registered commands. That said, when considering an action decision based on a future prediction, it is necessary to determine the properties of a disturbance signal from the outside environment. Furthermore, determining the properties of a disturbance signal is dependent on the specifications of the target processor, in particular, its sensor resolution or processing ability. As humans, we often make a guess that face up to situations. In this case, we will explore rough adaptation to given situations. To apply this method to a robot, the ability to predict the future state of the robot is necessary. In this paper, we focus on control of a robot in an attempt to produce rough adaptation similar to that observed in humans. In particular, we consider the situation where a periodic disturbance signal occurs.