From Control to Design

4 Prom Control to Design Requirements for Design from Control 

As was stated in chapter 1, design method changes after we understand the control method. Here, the requirement for design from control is summarized. It 

It is preferable that shapes of deformable machines have potentially stable mode. For example, thickness-distributed shape in one direction is potentially deformable along ditch. Another example is symmetric shape, which helps to control whole body motion, because center of coupling is usually on intersection of symmetry axis. Shape that constrains deformation reduces the degrees of freedom. This helps precise control because the numbers of input is bounded. 

Another problem was on the responsibility of design and control. It was made clear that the guideline what could be designed beforehand and be controlled afterwards. 

For the purpose of designing and controlling variables, the point is whether they could he altered afterwards. It is clear from the model that there exist several solutions to bring out the same function. For example, it is equivalent to make the gel thinner and to apply the electric fields stronger, if we take output for deformation speed. The amplitude of electric field can be changed while thickness of the gel cannot be changed after the total system is setup. 

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