Abstract

We have developed a high speed and effective control strategy for nonlinear systems such as a link system or legged-robots. It takes too much time to calculate the inverse dynamics compensation according to the increase of degrees of freedom. Therefore we proposed a parallel control method and developed small (5 cm/spl times/5 cm) digital signal processor (DSP) control unit for installation. The parallel computation based on interactive forces enables us to realize high speed calculation, and every DSP module has the same calculation routine.

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