ROBOT APPARATUS AND A METHOD FOR CONTROLLING THE POSTURE OF A ROBOT FOR STABILIZING THE POSTURE OF THE ROBOT ACCORDING TO PERIODICAL MOTION

摘要

PURPOSE: A robot apparatus and a posture control method of a robot are provided to control the posture of the machine entirely and stably by adjusting the phase or the frequency corresponding to external disturbance. CONSTITUTION: A robot apparatus is composed of a phase signal generating unit outputting the phase signal according to the periodical motion of movable units, a control unit generating the control signal of the movable unit according to the phase signal, a driving unit actuating the movable unit corresponding to the control signal of the control unit, a movable state detecting unit measuring the state of the movable unit actuated by the driving unit, and a phase and angle frequency estimating unit estimating the phase or the angle frequency according to the periodical motion of the movable unit based on the detected state. The phase signal generating unit renews the phase signal according to the estimated phase or angle frequency from the estimating unit.