In this paper, we consider a microgrid consisting of several small areas that are physically distant from power plants. We propose a framework for the microgrid based on optimization to achieve local production and consumption of electricity from photovoltaic power generation in each area, as well as balancing supply and demand by transmitting power electricity between the areas via EVs. At first, based on the Stackelberg game, we propose an optimization model for the negotiation of charging price and amount between single EV and charging spot. Moreover, considering a situation where an EV negotiates with multiple charging spots simultaneously, we give an optimization model regarding the EV's selection of charging spot, and analyze the EVs' travel behavior. The validity of these optimization models is verified through numerical simulations with multiple scenarios.

In this paper, we investigate control principle for tripedal walking locomotion, which is not found in nature. We have already developed a body-driven tripod walking robot, called “Martian II”, which has three fixed legs and active 2-d.o.f. swing arms to generate alternation of ground contact points. Adjusting the input for proper oscillation is difficult, and alternative approaches are needed to enhance the robot's speed. In this study, we developed a new control model of the tripedal walking with the both swing arm and active legs, called “Martian V”, whose legs can extend and contract. We propose control inputs for this feature. We also conducted simulation experiments to analyze the effects of this addition on the robot's movement.