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16

Biomimetic and Biologically Inspired Control

Zhiwei Luo, Shigeyuki Hosoe, and Masami Ito

CONTENTS
16.1 Review of the Development of System Control................................................................................ 399
16.2 Sensory-Motor Organization.............................................................................................................. 402
16.2.1 Nonlinear and Redundant Sensory-Motor Organization .................................................... 403
16.2.2 Motor Learning Using Neural Network.............................................................................. 404
16.2.3 Diffusion-Based Learning................................................................................................... 405
16.2.3.1 Robotic Researches of Kinematic Redundancy.................................................. 405
16.2.3.2 Diffusion-Based Learning Algorithm ................................................................. 407
16.2.3.3 Diffusion-Based Generalization of Optimal Control.......................................... 409
16.3 Optimal Motion Formation ................................................................................................................ 410
16.3.1 Optimal Free Motion Formation......................................................................................... 410
16.3.2 Optimal Motion Formation under Environmental Constraints........................................... 412
16.4 Mechanical Interaction and Environmental Adaptation .................................................................... 413
16.4.1 Impedance Control .............................................................................................................. 415
16.4.2 Force Control....................................................................................................................... 416
16.4.2.1 Two D.O.F. Adaptive Tracking Control............................................................. 417
16.4.2.2 Application to a Robot’s Force Tracking Control.............................................. 420
16.5 Conclusions and Further Researches ................................................................................................. 422
Acknowledgment............................................................................................................................................ 423
References....................................................................................................................................................... 424
Websites.......................................................................................................................................................... 425

16.1 REVIEW OF THE DEVELOPMENT OF SYSTEM CONTROL

From the micro-level of molecular biochemical reactions to the macro-level of ecosystems, control
exists everywhere in complex biological systems. System control engineering, which is strongly
motivated by mimicking biological systems, affects powerfully the late development of overall
engineering fields including bioengineering. Recent rapid development of biological science and
technologies will further improve the active applications of control engineering. Meanwhile,
system control theory itself will also be promoted by advanced biomimetic researches.
The aim of system control engineering is to abstract the essences of control existing in
biological and physical systems of nature and to apply them to create artificial systems. In 1948,
N. Wiener published his book Cybernetics, in which he defined cybernetics as the science that deals
with the control and communication of systems that have an organized structure (Wiener, 1948). By
considering the similarity between control in biological systems and in artificial systems, he tried to

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