| 摘要 |
PROBLEM TO BE SOLVED: To make seamless transition from antagonistic driving to non-antagonistic driving.SOLUTION: A joint torque arithmetic part 231 computes joint torque Tof a joint J1 needed to change a joint angle &thetas; to a target joint angle ra. A summing part 232 finds a sum value Uindicative of the sum of generated forces u, uthat respective actuators e, fare made to generate from target rigidity r. A setting part 233 sets a restriction coefficient hto a value larger than 1 in non-antagonistic driving and also sets the restriction coefficient hto 1 in antagonistic driving. A restriction part 234 restricts the joint torque Tso that a restriction condition |T|<U×r×his met, where "r" is a moment arm diameter of a link 101. A generated force arithmetic part 235 computes generated forces of the respective actuators e, fbased upon the restricted joint torque T. The setting part 233 makes the setting so that the restriction coefficient hgradually approaches 1 in the non-antagonistic driving at the time of transition to antagonistic driving from the non-antagonistic driving. |
