| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method for a robot device improving entertaining nature and usability. SOLUTION: In this robot device, the rotation of a motor serving as a power source for driving a movable part is controlled according to action contents to be carried out, and the rotating state of the motor is detected. Based on the detected rotating state of the motor, the magnitude of external force applied to the movable part is estimated. Based on the estimated result of the magnitude of external force, the rotation of the motor is controlled so that the magnitude of external force and the displacement quantity in the rotating state of the motor due to the external force are in the proportional relation with the preset adjustment gain as a proportional constant, and the adjustment gain set to a control means is changed according to the situation. COPYRIGHT: (C)2006,JPO&NCIPI
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