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.
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