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Abstract
Much effort has heen concentrated on the control of a single control of motion system. However future machine or robots will he spread out in our society and they will make their notion in an open environment. Since such an environment has a lot of modes, a design methodology of motion controller to be adaptive to the environment is required. The paper shows a novel viewpoint to quarry the modes from environment. Two examples of an abstraction using Hadamard matrix are shown. One is a friction-free drive and the other is a control of a paddle foot for walking machine. Modal transmission from environment to the final posture should change adoptively according to the situation. There are numerical and experimental examples in the paper. They show the viability of novel approach to the compliant motion.
Additional information
Notes on contributors
Mitsuharu Morisawa
Mitsuharu Morisawa received the B.E. and .M.E. degrees in electrical engineering from Keio University. Yokohama. Japan, in 1999 and 2001, respectively. Since 2001. he has been a research assistant of the Keio University when he is engaging in. the research of biped robot, parallel mechanism, motion control and decentralized control
Kouhei Ohnishi
Professor Kouhei Ohnishi received the B.E., M.E., and Ph.D. degrees in electrical engineering from the University of Tokyo. Tokyo. Japan, in 1975. 1977. and 1980. respectively. Since 1980. he has heen with Keio University. Yokohama. Japan. His research interests include power electronics. mechatronics. motion control and robotics. He is a Fellow of the IEEE.