Polynomial design of the nonlinear dynamics for the brain-like information processing of whole body motion

Abstract

For the development of an intelligent robot with many degrees-of-freedom, the reduction of the whole body motion and the implementation of the brain-like information system is necessary. We propose a reduction method of the whole body motion based on singular value decomposition and a design method of the brain-like information processing system using a nonlinear dynamics network with polynomial configuration. By using the proposed method, we design the humanoid whole body motion that is caused by the input sensor signals.