Abstract: A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form. Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.

Abstract: A gait generating device 32 includes a desired particular-site motion velocity value determining unit 45 that uses a quadratic evaluation function having a particular-site motion velocity vector ?Vb as a variable and a linear matrix inequality having ?Vb as a variable to sequentially determine, as a desired value ?Vb_cmd2 of ?Vb, a value of ?Vb that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied, by arithmetic processing according to a solution method for a quadratic programming problem. The device then integrates ?Vb_cmd2 to sequentially determine desired values of the position and posture of the particular site (the body) 2 of the robot 1. The linear matrix inequality is set to satisfy a condition restricting the operations of the joints between the particular site 2 and the distal portion of each leg link 3.

Abstract: Provided is a control system and the like capable of deriving at high speed a solution to the optimization problem of combinations of continuous state variable and discrete state variables. According to the control system, by setting a search range (first search range) of internal action candidates ai1 for an internal module mod1 smaller than a search range (second search range) of external action candidates ai2 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 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 form the low-frequency external module mod2.

Abstract: Provided is an optimization control system in an attempt to improve searching accuracy of an optimal solution defining a behavior mode for a control subject. A plan storing element 120 is configured to obtain a current update result of a joint probability distribution p(u, x) on the basis of a current update result of a probability distribution p(x) from a state estimating element 110 and a current update result of the conditional probability distribution p(u|x) from a behavior searching element 200. The behavior searching element 200 is configured to determine the conditional probability distribution p(u|x) as a current basis for obtaining the current update result of the conditional probability distribution p(u|x) on the basis of the current update result of the probability distribution p(x) from the state estimating element 110 and a previous update result of the joint probability distribution p(u, x) from the plan storing element 120.

Abstract: Provided is an optimization control system in an attempt to improve searching accuracy of an optimal solution defining a behavior mode for a control subject. A plan storing element 120 is configured to obtain a current update result of a joint probability distribution p(u, x) on the basis of a current update result of a probability distribution p(x) from a state estimating element 110 and a current update result of the conditional probability distribution p(u|x) from a behavior searching element 200. The behavior searching element 200 is configured to determine the conditional probability distribution p(u|x) as a current basis for obtaining the current update result of the conditional probability distribution p(u|x) on the basis of the current update result of the probability distribution p(x) from the state estimating element 110 and a previous update result of the joint probability distribution p(u, x) from the plan storing element 120.

Abstract: Provided is a control system and the like capable of deriving at high speed a solution to the optimization problem of combinations of continuous state variable and discrete state variables. According to the control system, by setting a search range (first search range) of internal action candidates ai1 for an internal module mod1 smaller than a search range (second search range) of external action candidates ai2 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 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 form the low-frequency external module mod2.

Abstract: A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form. Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.

Abstract: An external agent for application to the skin, such as a cosmetic, an ointment or a hair remover, comprises a liquid low-molecular-weight ethylenic copolymer having an ethylene content of 30 to 70 mole %, a number average molecular weight of 150 to 5,000, a Q value, as defined in the specification, of not more than 4, a standard deviation, as defined in the specification, of not more than 3, and a B value, as defined in the specification, of 1.0 to 1.5.