人の視覚運動制御系を模擬したカメラ情報に基づく倒立振子むだ時間系のJust-In-Time制御

抄録

Humans can keep a stick on the fingertip upright position for a certain time after a brief exercise, although we have a large time delay due to the signal transfer in the optic nerve and due to information processing in the brain. Correspondingly in an experiment on the stabilization of the mechanical inverted pendulum, we use a normal frame rate camera as an angle sensor of the pendulum, and its large time delay makes the stabilization difficult. How can humans compensate the large time delay? In order to answer this question, we apply Just-In-Time method to the inverted pendulum control system. This memory-based scheme corresponds to the mechanism of human learning and memory. This method can stabilize the inverted pendulum for a certain amount of time just like humans. An analysis of the behavior of the pendulum may give an interpretation for the motor control mechanism of human.