| 摘要 |
PROBLEM TO BE SOLVED: To provide a technology for regulating the rigidity of a robot joint. SOLUTION: A robot comprises a body side member 42, a distal end side member 18 rotatably connected to the body side member 42, at least two wires (66a, 66b and 66c) with end parts thereof fitted to both sides across the center of rotation of the distal end side member 18, at least two actuators connected to the other end parts of the wires (66a, 66b and 66c) to extend/contract each wire, and a controller to control the actuator group. The controller inputs information on the tension exerted in the wires (66a, 66b and 66c), and outputs the working quantity of each actuator. COPYRIGHT: (C)2004,JPO
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