2020 年 56 巻 11 号 p. 521-530
Multi-motor systems have many advantages. For example, it is possible to improve the reliability of the system by providing redundancy to a failure of some motors or to improve the efficiency of the system by selecting appropriate motor operating point according to load and so on. In order to take advantages of the above feature of multi-motor systems, it is needed to develop a decentralized control law that enables cooperative motion control of motors. To this end, we draw inspiration from the decentralized control scheme for quadruped locomotion which we proposed previously. This paper shows a construction method of the control law inspired by the gait control and simulation results to exhibit the usefulness of this method.