| 摘要 |
PROBLEM TO BE SOLVED: To independently control a turning angle and rigidity around a joint of a robot. SOLUTION: This robot has an end side member 18 rotatable in an ankle joint 26, at least two wires 66a, 66b, and 66c having an end part installed on both sides for sandwiching the rotational center of this end side member 18, at least two actuators connected to the other end part of the respective wires, and expanding the respective wires, and a controller for controlling this actuator group. This controller controls a working quantity of the respective actuators, by inputting information on the successively changing turning angle of the end side member 18 and information on successively changing wire tension; and make them follow the indicated turning angle and rigidity. COPYRIGHT: (C)2005,JPO&NCIPI
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