Abstract
This study is intended to deal with the interdependency between control and body systems, and to discuss the “relationship as it should be” between these two systems. To this end, a decentralized control of a multi-legged robot is employed as a practical example. The results derived indicate that the convergence of decentralized gait control can be significantly ameliorated by modifying its interaction between the control system and its body system to be implemented.
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© 2006 Springer-Verlag Tokyo
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Ishiguro, A., Ishimaru, K., Kawakatsu, T. (2006). Towards a “Well-Balanced” Design: How Should Control and Body Systems be Coupled?. In: Kimura, H., Tsuchiya, K., Ishiguro, A., Witte, H. (eds) Adaptive Motion of Animals and Machines. Springer, Tokyo. https://doi.org/10.1007/4-431-31381-8_10
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DOI: https://doi.org/10.1007/4-431-31381-8_10
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-24164-5
Online ISBN: 978-4-431-31381-6
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