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As fans of the series or cosplayers of it, you may find that the shoes, which are very popular and a source of endless excitement . the one-sidedness in the deformation of the disc. For instance, as shown in Fig. \[Fig:con\] (a), if the left shoe is deformed as shown in Fig. \[Fig:con\] (b), the human ankle joint will be displaced to the right if the ankle bones are fixed. Because the human foot is fixed to the left shoe and the left foot, this displacement will be directly transmitted to the right foot, resulting in a one-sided walking action. In a typical walking experiment, the human subjects walk on a treadmill or on the floor with a set of feet and shoes on the left and right sides, respectively [@Newell_89]. The one-sidedness in the walking motion can be attributed to the gaits of the human subjects. To realize the above one-sidedness in the gait of the human subjects, it is necessary to use a feedback system that allows the controllers to compare the differences of displacements between left and right sides. However, the above approach will cause energy waste because the human ankle is affected by the gaits of the human subjects and a high-level controller must be designed for this purpose. Therefore, it is unlikely that our present approach can be applied to actual human walking by simply shifting the position of the feedforward controller’s running state.


In this paper, we proposed a new feedforward controller design method that is based on the disc deformation model in a rigid body. In this method, a discrete dynamic equation of the disc is first derived and then input/output identification is performed to obtain an identified model of the disc. By using the identified model, we can design a feedforward controller as a state-feedback controller.

However, it is computationally difficult to design a state-feedback controller for rigid bodies by using the disc-deformation model. For this reason, we proposed a new type of controller consisting of a feedforward controller and a static controller. Moreover, in the proposed method, we can design the feedforward and the static controller concurrently by utilizing two static controllers as mentioned in Section II.

The proposed method was applied to the disc model in

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