A Design of Decentralized Control System in Unstrnctured Environment

Daiki Ito, Takashi Kageyama, Jun Suzuki, Toshiaki Tsuji, Mitsuharu Morisawa, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


Motion control is developed in control of industrial machines. However, some kind of machines working in an open environment are required in our future society. Then it is necessary to design general methodology for motion controller in open environment. In this paper, decentralized control system is applied as a motion controller for this purpose. This paper is constructed from two parts roughly: the first is a method to abstract environmental mode from environmental information, and the second is a method to design the motion controller with the environmental information. This paper applied this method to biped robot as a model case. The effectiveness of proposed method is confirmed by several simulation and experimental results.

Original languageEnglish
Pages (from-to)1219-1226
Number of pages8
Journalieej transactions on industry applications
Issue number10
Publication statusPublished - 2003 Sept 1


  • Biped robot
  • Decentralized processing
  • Hadamard matrix
  • Hard real-time system
  • Motion control
  • Open enviromment
  • System connection

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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