制御arXiv:2606.09237v1
ToFカメラのフィードバックで倒立振子を安定化できるか？
Can we stabilize an inverted pendulum with feedback from a time-of-flight camera?
低解像度で安価なToFカメラのフィードバックだけで、倒立振子を正確に安定してバランスできることを実証した論文。
著者: Anthony Czubarow, Antonio Terpin, Raffaello D'Andrea
分類: cs.RO, eess.SY
原文アブストラクト
Time-of-flight cameras are popular in robotics for providing direct depth information while being compact, inexpensive, and robust to lighting conditions, but their low spatial resolution and depth noise are widely believed to preclude precise feedback control. In this paper, we show that an inexpensive, low-resolution time-of-flight camera provides sufficient feedback to reliably and precisely balance an inverted pendulum on a cart--a canonical benchmark for fast, unstable dynamics.