이 연구의 목적은 진자 과제에서 학생들의 가설 생성에 있어서 귀추적 추론 능력이 중요한 역할을 한다는 가설을 검증하고자 하는 것이다. 가설을 검증하기 위하여 5학년 학생들을 대상으로 하여 진자 운동에 대한 가설 생성 검사와 진자의 길이에 대한 선지식 검사를 실시하였다. 진자의 길이에 대해 선지식을 가지고 있는 많은 학생들이 그네 과제에 대한 가설 생성에 선지식을 적용하지 못하였다. 이러한 결과는 학생들이 가설 생성에 실패한 이유가 단지 선지식이 없어서가 아니라 오히려 귀추적 추론 능력이 부족한 것과 관련된다. 학생들이 성공적으로 가설 생성을 하기 위해서는 선지식 뿐만 아니라 귀추적 추론능력도 요구된다. 그러므로 이 연구는 가설 생성 과정에 있어서 선지식 이외에도 귀추적 추론 능력이 중요한 역할을 한다는 주장을 지지한다. 이 연구는 학생들의 가설 생성 능력을 계발하기 위해서는 과학 교육에서 과학적 선언적 지식 뿐만 아니라 귀추적 추론 능력에 대한 교육도 함께 제공되어야 함을 시사한다.

The purpose of this study is to develop a motion generation technique based on a double inverted pendulum model (DIPM) that learns and reproduces humanoid robot (or virtual human) motions while keeping its balance in a pattern similar to a human. DIPM consists of a cart and two inverted pendulums, connected in a serial. Although the structure resembles human upper- and lower-body, the balancing motion in DIPM is different from the motion that human does. To do this, we use the motion capture data to obtain the reference motion to keep the balance in the existence of external force. By an optimization technique minimizing the difference between the motion of DIPM and the reference motion, control parameters of the proposed method were learned in advance. The learned control parameters are re-used for the control signal of DIPM as input of linear quadratic regulator that generates a similar motion pattern as the reference. In order to verify this, we use virtual human experiments were conducted to generate the motion that naturally balanced.

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.