Conversion of Problems

For example motion, turn over motion of a starfish was selected to study motion control of deformable robots, because it is a dynamic motion, which is driven by synchronized neuron ring[208]. One of the problems of deformable robots is that motion control is difficult because whose bodies have virtually infinite degrees of freedom. Motion generation of gel robots is not a simple problem if we formulate it in an ordinary maimer. Learning fi om real starfishes and other works, there should exist an alternative methodology. In this section, biologically inspired method to drive deformable robots is proposed. The assumption is that only one or a few points are controlled by whole parts of the robot, which work cooperatively. 

The point is to convert this ill-posed problem to well-posed problem. This problem is decomposed into inverse dynamics problem considering the trajectory of the center of the robot. 

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