Abstract
This paper proposes the control and the learning method for a manipulator based on compound control. Compound control is the novel concept of biomimetic control and learning scheme. The most important feature for controls of living things is that controls concepts of simple and homogeneous elements and its networks. In this paper, compound control is applied to a redundant manipulator control. The hierarchical network of calculation elements is used to learn the desired angles and controllers of all joints using the position of endefector and the desired position of endefector. The simulation and experiment results show the effective of proposal method.
