Patent Document ID: 5579442
Application ID: 08233423
Patent Flag: 1

Claim One:
1. A control apparatus by which an actuation amount required in controlling a control amount of a controlled object to match a target control amount is determined, said control apparatus comprising: a converting part which is constructed to map the correspondence between an actuation amount indicated by the controlled target and a control amount, and which receives an input of the actuation amount so as to output a control amount corresponding to said input, wherein the converting part comprises a layer neural network including an input layer and output layer, wherein an error occurring between a target joint position and a current joint position is computed in the output layer and the error is propagated to the input layer so as to output the control amount; a calculating part which, when an initial actuation amount is input to said converting part, calculates a corrective actuation amount corresponding to said initial actuation amount and allowing the target control amount to match the control amount output from said converting part, on the basis of a difference between the target control amount and the control amount output from said converting part; and an outputting part which outputs a sum of the initial actuation amount and the corrective actuation amount calculated by said calculating part, as the actuation amount to be fed to the controlled target, wherein the actuation amount is used to control the controlled object.