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Decentralized control is a key concept to understand the mechanism of versatile and adaptive locomotion of animals under various environments. However, a systematic design of an autonomous decentralized control system has not been well established, because previous studies mainly focused on the control of phase relationship among body parts, i.e., phasic control, but not on the control of the spatio-temporal...
Despite its appeal, a systematic design of an autonomous decentralized control system is yet to be realized. To bridge this gap, we have so far employed a “back-to-basics” approach inspired by true slime mold, a primitive living creature whose behavior is purely controlled by coupled biochemical oscillators similar to central pattern generators (CPGs). Based on this natural phenomenon, we have successfully...
In this paper, a new fully adaptive feedforward decentralized controller is developed for 6 degree of freedom (6DOF) parallel robot. This method makes the position error and velocity error converge to zero asymptotically. Theoretical analysis and simulation results are presented to illustrate the proposed approach. The controller parameter tuning method is also proposed.
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