Tham khảo tài liệu 'mobile robots book 2011 part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Bionic Limb Mechanism and Multi-Sensing Control for Cockroach Robots 91 then the speed of image processing can be enhanced greatly. For a complex system that contains multi-sensor information owing to modeling error external disturbance load fluctuation and temporary set causing position error state space variables are inter-coupled. Consequently it is very challenging to design realizable filter and controller in system state space. Effective methods have to be devised to realize multi-sensor information processing hence intelligent motion control. Although a cockroach has agile movement its nervous system is very simple Beer et al 1997 . The limited capacity of the simple neural network shows that the nerve centre does not take care of everything itself and that each leg s movement is self-controlled by each leg s controller. It is therefore suggested that cockroach robot control system should adopt principal and subordinate distributed control structure Espenschied 1996 . Master controller of brain level allocates task for each master controller of leg level based on programming task requirement. Master controller of leg level sends commands to its subordinate controllers which are the individual joint controllers. There are information interaction between principal and subordinate controllers to realize intelligent motion control. Control algorithms should be simplified to accelerate controller s operational speed. Cockroach robot has more than 10 years research history but it is still in its infancy. In the ongoing project the concept of region control has been proposed. It is designed to substitute routine point control scheme. Region control has many examples in life such as chess player placing chessman. Players do not need to place chessman in the decussate point exactly but a region near the ideal point. It is obvious that the point is the limit of region and reducing the region leads to the point. Intuitively it can be concluded from the problem of .