| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot, preventing looseness of a wire even in the case of stopping the supply of power applied to an actuator to stop the operation of a robot. SOLUTION: This robot includes: a one side member 16: the other side member 18 rotatably connected to the one side member; wires 30, 31, 32, each one end of which is connected to the other side member 18; and actuators 22, 23, 24 connected to the other end parts of the wires 30, 31, 32 to expand and contract the wire when the power is supplied. In addition to the above, the robot includes: a locking means for locking the actuators 22, 23, 24 when the power is supplied; and an inverting means for inverting to off-state when the power supplied to the actuators 22, 23, 24 is on-state, and inverting to on-state when it is off-state to supply the inverted power to the locking means. COPYRIGHT: (C)2006,JPO&NCIPI
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