| 摘要 |
PROBLEM TO BE SOLVED: To provide an assist device for a bipedal mobile body in which a loosening amount of a rope-shaped connecting member is reduced and, when the bipedal mobile body loses its posture and almost falls, an impact for supporting a load is reduced. SOLUTION: The assist device for a bipedal mobile body which is connected to a bipedal mobile robot (12) via a rope-shaped connecting member (18) and which has a lifter (14) supporting the bipedal mobile body from the upper side when the bipedal mobile body loses its posture includes: lifter moving means (20, 22, 24, 26, 28, 30) for moving the lifter in a three-dimensional space; a lifter controlling unit (38) for controlling the movement of the lifter moving means; and detecting means (32, 34) for detecting the position of the bipedal mobile body in the three-dimensional space. The controlling unit for the lifter moving means controls the movement of the lifter moving means such that the lifter follows the bipedal mobile body based on the detected position. COPYRIGHT: (C)2011,JPO&INPIT
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