日本機械学会論文集
Online ISSN : 2187-9761
ISSN-L : 2187-9761
ロボティクス研究の最前線(第23回ロボティクスシンポジア特集号)
制御実行中にオンラインでPIDゲインをチューニングする学習制御に基づく等身大ヒューマノイドロボットの平行二輪電動スクーター上での調速行動
木村 航平溝花 弘登野沢 峻一岡田 慧稲葉 雅幸
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2018 年 84 巻 864 号 p. 18-00032

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This paper proposes the online learning controller for PID gain tuning to regulate the speed of robot on parallel two-wheeled electric scooter. We define this speed regulation as “speed governing behavior”. The proposed system based on Iterative Feedback Tuning (IFT) contributes the online continuity during learning control not to interrupt and reset/restart the controller. PID gain update during control has the problem that the integral gain change affects the divergence of control input. To this problem, we propose the digital integrator which modifies the previous integrated value of control error. This proposed integrator solves the impulsive control input without any anti-windup or reference shaping. In conclusion, this paper shows the experimental results based on the online learning control and demonstrates the speed governing behavior by life-sized humanoid robot. We finally aim the driving of parallel two-wheeled electric scooter by speed control of humanoid robot.

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