A brake piloting system including a robotic device having at least one movable element, at least one brake which, when activated from an open configuration to an activated configuration, enables a deceleration or immobilization of the at least one movable element, at least one position sensor aimed at measuring a real time position of the at least one movable element and at least one the microcontroller being configured to activate in real time the at least one brake into a determined configuration.

An actuator control method and an actuator control device that perform energy evaluation control that compares kinetic energy of a controlled object and work that can be done by braking and switches driving to braking at a point of time at which the kinetic energy of the controlled object and the work become equal, and also repeatedly makes a comparison between the kinetic energy of the controlled object and the work at each preset time, as a new control method that replaces PID control in mechanics for effectively utilizing vehicle energy to improve vehicle fuel consumption and control methods thereof, a control result is obtained by a simpler method.