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Closed loop trajectory optimization based on reverse time tree

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  • Control Theory and Applications
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Abstract

This paper addresses the general methods for creating the approximately optimal closed loop stabilization controllers that depend on given rigid body systems. The optimal stabilization controllers calculate the optimal force (torque) inputs that depend on the current states of the systems. In this paper, a creation method for approximately optimal controllers named closed loop optimizer based on reverse time tree (CLO-RTT) is proposed. In the open loop optimization phase, this method creates approximately optimal open loop solutions using rapid semi-optimal motion planning (RASMO). In the closed loop optimization phase, this method selects a solution from the RTT according to the measured current state of a system. The proposed method was validated in the time optimal stabilization problem of a double inverted pendulum model. The proposed method successfully stabilized the model quickly. When the resolution of RASMO was higher, the motion time was shorter.

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Authors and Affiliations

  1. Computer Science Course, Department of Electrical Engineering and Computer Science, Faculty of Engineering, Iwate University, 203 Room, 4 Bldg. East, 4-3-5, Ueda, Morioka-shi, Iwate, 020-0066, Japan

    Chyon Hae Kim

  2. Graduate School of Creative Science and Engineering, Waseda University, 3-4-1, Okubo, Shinjuku-ku, Tokyo, 169-8555, Japan

    Shigeki Sugano

Authors
  1. Chyon Hae Kim
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  2. Shigeki Sugano
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Correspondence to Chyon Hae Kim.

Additional information

Recommended by Associate Editor Changchun Hua under the direction of Editor Myo Taeg Lim. This work was supported by JSPS KAKENHI Grant Number 15K20850.

Chyon Hae Kim is an Associate Professor of Computer Science Course, Department of Electrical Engineering and Computer Science, Faculty of Engineering in Iwate University (Japan). He is Invited Researcher (2008-) of Waseda University. He obtained Doctor (Engineering) at Waseda University (2008). He was Assistant Researcher of 21st Center of Excellence Project at Waseda University (2005-2008). He was Researcher at Honda Research Institute Japan Co., Ltd. (2008-2013). He was Invited Researcher of RIKEN (Japan) (2008-2013). He was Adjunct Lecturer of Waseda University (2013-2014). He received Student Incentive Award from Information Processing Society of Japan (2007,3), Best Paper Award Nomination at the international conference IEA/AIE (2013,6), Research Incentive Award from Robot Society of Japan (RSJ) on (2013,9),and SICE System Integration branch Best Presentation Award (2014,12). He is Review Board Member of Applied Intelligence (Springer). He is Associate Editor of Advanced Robotics. He is Associate Editor of Aloy Journal of Soft Computing and Applications. He is Expert Board Member of Research Expert Committee (Open Intelligence) of RSJ. He is Expert Board Member of SICE Tohoku Branch.

Shigeki Sugano is Professor of Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University (Japan). He Sugano received the B.S., M.S., and Dr. of Engineering degrees in mechanical engineering in 1981, 1983, and 1989 from Waseda University. From 1987 to 1991, he was a research associate at Waseda University. Since 1991, he has been a faculty member in the Department of Mechanical Engineering at Waseda. From 1993 to 1994, he was a visiting scholar in the Mechanical Engineering Department at Stanford University. From 2001 to 2012, he served as the director of the Waseda WABOT-HOUSE laboratory. Since 2012, he has been the director of the Institute for Techno-Innovation in Chubu-Area Industries. Since 2000, He has been a member of the Humanoid Robotics Institute of Waseda University. From 2011 to 2014, he served as the Associate Dean of the School of Creative Science and Engineering, Waseda University. Since 2014, he has served as the Dean of the School of Creative Science and Engineering, Waseda University. Since 2013, he has served as the Program Coordinator of the MEXT Leading Graduate Program: Waseda Embodiment Informatics Program. His research interests include human-symbiotic anthropomorphic robot design, dexterous and safe manipulator design, and human-robot communication. He received the Technical Innovation Award from the Robotics Society Japan for the development of the Waseda Piano-Playing Robot: WABOT-2 in 1991. He received the JSME Medal for Outstanding Paper from the Japan Society of Mechanical Engineers in 2000, the JSME Fellow Award in 2006, and the IEEE Fellow Award in 2007. He also received IEEE RAS Distinguished Service Award in 2008, the RSJ Fellow Award in 2008, and the SICE Fellow Award in 2011.He received RSJ Distinguished Service Award in 2012. He served as the Secretary of the IEEE Robotics & Automation Society (RAS) in 2006 and 2007. He served as a Co-Chair of the IEEE RAS Technical Committee on Humanoid Robotics from 2005 to 2008. He served as the IEEE RAS Conference Board, Meetings Chair from 1997 to 2005. He served as an AdCom member of the IEEE RAS and the Associate Vice-President of the IEEE RAS Conference Board from 2008 to 2013. From 2007 to 2012, he served as the Editor in Chief of the International Journal of Advanced Robotics. He served as the Head of the System Integration Division of the Society of Instrument and Control Engineers (SICE) in 2006 and 2007. He serves as a Director of SICE in 2008 and 2009. From 2001 to 2010, he served as the President of the Japan Association for Automation Advancement.

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Kim, C.H., Sugano, S. Closed loop trajectory optimization based on reverse time tree. Int. J. Control Autom. Syst. 14, 1404–1412 (2016). https://doi.org/10.1007/s12555-015-0158-0

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  • DOI: https://doi.org/10.1007/s12555-015-0158-0

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