| 摘要 |
PROBLEM TO BE SOLVED: To achieve various movements of a robot' head, and to improve expression ability of robot without lowering a degree of freedom of the design of the robot. SOLUTION: A head unit 142 of the robot comprises a head articulation 161 which turns about three orthogonal axes, a rolling axis, a pitching axis, and a yawing axis, by means of actuators 171 to 173 composed of a core-less motor, etc., and a neck articulation 163 which turns about two orthogonal axes, the pitching axis and the yawing axis, by means of actuators 174, 175 composed of a core-less motor, etc. The present invention can be applied to an entertainment robot. COPYRIGHT: (C)2006,JPO&NCIPI
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