| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile robot which can be easily manufactured at a low cost. SOLUTION: The mobile robot 10 is equipped with drive means which swing the joints of legs and arms, and an operation control device 40 which drives and controls the drive means. The operation control device 40 is composed of a main control unit 41 provided to a body, and a plurality of auxiliary control units 42 which are dispersedly provided to the legs and the arms and connected to the main control unit 41 through a network 50. The auxiliary control units 42 are equipped with processor units 43 calculating control signals on the basis of drive control signals sent from the main control unit 41, and functional units 44 and 45 which drive the corresponding drive means on the basis of the control signals outputted from the processor unit 43 and send detection outputs sent from sensors to the main control unit 41. The processor unit 43 and the functional units 44 and 45 are formed on a single board, respectively, and the boards are laminated in layers and directly connected to one another. COPYRIGHT: (C)2005,JPO&NCIPI
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