Tomohiro Henmi

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— In this paper, a swing-up control scheme for a serial double inverted pendulum is proposed. The control scheme is to swing up the pendulum in three steps, Step 1: to swing up the first pendulum, Step 2: to swing up the second pendulum while stabilizing the first pendulum at the upright position, and Step 3: to stabilize the two pendulums around the(More)
— Adaptive Nonlinear Model Predictive Controller (ANMPC) can estimate system's parameters and detect a fault of actuators based on relationship between past control inputs and states variables of systems, and estimated parameters are need for calculating a control input in next step. In this paper, for applying this ANMPC to real systems, performance(More)
— In this paper, new swing-up controller for a three-link underactuated robot using a technique of horizontal bar gymnast is proposed. This controller is designed based on an equivalent center of mass(ECM) of the gymnast and the robot. The ECM of the gymnasts(ECMG) derived by analyzing a video data and a proposed controller is designed in order to realize(More)
This paper proposes a swing-up control scheme for a cart-type single pendulum having a serial second pendulum as a parasitic part. The proposed control scheme swings up the first pendulum with controlling the motion of a cart and being robust to the parasitic part. In the swing-up, the second pendulum is swinging at the top of the first pendulum and the(More)
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