Well-balanced Designとは何か?:制御系と機械系ダイナミクスの有機的調和に基づく多脚歩行ロボットの設計

抄録

This study is intended to deal with “well-balanced design” between control and mechanical systems. To this end, a decentralized control for a multi-legged robot is employed as a practical example. The derived result indicates that the convergence of decentralized gait control can be significantly ameliorated by modifying its interaction dynamics between the control and mechanical systems to be implemented.