| 摘要 |
PROBLEM TO BE SOLVED: To prevent the falling of a humanoid robot in making it act. SOLUTION: Wire extension and contraction mechanisms 1 to 3 to deliver a wire and draw it in are furnished and they are respectively provided at different positions. Additionally, an intersection part connected to a plurality of the wires from a plurality of the wire extension and contraction mechanisms, an image pickup part 51 provided on the intersection part and pick up an image below it, a wire to lift the movable body one end of which is connected to the intersection part and the other end of which is connected to the movable body positioned below the intersection part and a control part 10 to control a plurality of the wire extension and contraction mechanisms are furnished. The intersection part is made to follow movement of the movable body by finding a relative positional relation of the movable body and the image pickup part in accordance with a picture image of the movable body picked up by the image pickup part and driving a plurality of the wire extension and contraction mechanisms in accordance with the found relative positional relation. COPYRIGHT: (C)2006,JPO&NCIPI
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