APPARATUS, METHOD AND PROGRAM FOR CONTROLLING ELASTIC ACTUATOR DRIVE MECHANISM

摘要

Provided is an apparatus for controlling an elastic actuator drive mechanism, which determines abnormality of an output measuring means (8) by being provided with an abnormality determining means (49), which determines whether an output measuring means (8) is abnormal or not. When the output measuring means is abnormal, without using measurement results of the output measuring means, the target internal state information is generated using target internal state information such that an output target value can be achieved, and operations of an elastic actuator (1) are controlled.