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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.
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Morisawa et al. (2002) studied this question.
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