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Most researches on motion control are attempting to control motion from the outside. But as Bernstein pointed out in the case of human motion the number of the degrees of freedom is tremendously large, so it is extremely difficult to control motion from the outside. However, if we note how our bodies contribute to our cognition, there are approaches from the other way , i.e.,from the inside. Gallwey pointed out in his book “The Inner Game of Tennis” what an important role our bodies play in tennis. Our muscles are different from person to person, so to win a game, there is no explicit way, but we must fully utilize our embodied cognition. It is his message. This paper describes a pattern-based approach to motion control, which is based on our capability of embodied cognition.
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