| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a control system or the like capable of deriving at high speed a solution to an optimization problem of combinations of continuous state variables and discrete state variables. <P>SOLUTION: By setting a search range (first search range) of action candidates a<SB POS="POST">i1</SB>for an internal module mod1 smaller than a search range (second search range) of action candidates a<SB POS="POST">i2</SB>for a low-frequency external module mod2, the arithmetic computing speed is accelerated accordingly. Thereby, when it is necessary for a robot R to cope with a disturbance emergently on the basis of measured state values of the robot R, the operation of the robot R can be controlled according to the arithmetic computing result from the high-frequency internal module mod1 without waiting for the arithmetic computing result from the low-frequency external module mod2. <P>COPYRIGHT: (C)2012,JPO&INPIT |
