- 著者
- 近藤 修平 Luis CANETE 高橋 隆行
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- ロボティクス・メカトロニクス講演会講演概要集 2015 (ISSN:24243124)
- 巻号頁・発行日
- pp._1P2-G03_1-_1P2-G03_4, 2015-05-17 (Released:2017-06-19)
- 被引用文献数
- 1 1
In this paper, a control method for controlling the dual arm manipulator of the inverted pendulum type assistant robot while performing object hand over is presented. To reduce the complexity and increase the robustness, a partitioned control that separates the body and arm control while treating the other as a disturbance is proposed. To estimate the disturbances, the ESO is implemented on both subsystems. The development of the control and results of actual tests are presented.
- 著者
- 村田 博士 小野田 崇 由本 勝久 中野 幸夫 近藤 修平
- 出版者
- The Institute of Electrical Engineers of Japan
- 雑誌
- 電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society (ISSN:03854221)
- 巻号頁・発行日
- vol.124, no.9, pp.1874-1880, 2004-09-01
- 被引用文献数
- 13 7
This paper presents applying results of four estimation algorithms of non-intrusive monitoring system for real household. We conclude that all algorithms have practicable ability. 1) support vector machine(SVM): SVM was used to estimate ON/OFF states for fluorescent and refrigerator. SVM has the performance equivalent to best performance of sigmoid function networks(SFN). However, SVM has high estimating ability constantly. 2) RBF networks(RBFN): RBFN was used to estimate power consumption for air conditioner. RBFN has the performance equivalent to best performance of SFN. However, RBFN has high estimating ability constantly. 3) step change detection method(SCD): SCD was used to estimate ON/OFF states and power consumption for IH cooking range. SCD does not need the necessary learning process for SFN and has higher estimating ability than SFN. 4) spectrum reference method(SRM): SRM was used to estimate working conditions for rice cocker and washing machine. SRM is able to estimate these working conditions that cannot be estimated by earlier methods.