BALANCING DEVICE OF MULTIPLE-JOINTED MOVINGING SYSTEM

摘要

PURPOSE: A balance holding device of an articulated moving system, which can simply control centroid of a mobile system by using minimum motors, is provided to guide stable walking posture of a robot by converting mass center of the moving system. CONSTITUTION: A balance holding device of an articulated moving system comprises a guide part(110), a mass part(120), a driving part, and a controller(140). The guide part is installed in the system. The mass part is movably combined in the guide part. The driving part transfers the driving force to the mass part in order that the mass part is transferred from the guide part. The controller controls the mass part in order to keep balance according to the movement of the articulated moving system.