Abstract
Living organisms have the capability of adapting to unknown environmental situations. However, the capability of brain is finite even though environmental situations are infinite. We consider biological learning method and information processing structure makes such features. Many researches indicate living organisms use synergy, and make high dimension signal to low dimension, and vice versa. We proposed a learning method that embodies the capability of biological systems, termed "Tacit learning". However, no research indicate living organisms are learning and controlling their body by using synergy. Tacit learning is conventionally applied to the joint space, and we realized bipedal locomotion of robot. In this research, we extend tacit learning to mode space decomposed by using a resonance mode of the robot. We show the robot realize high robustness using physical characteristics.
