| 摘要 |
PROBLEM TO BE SOLVED: To perform stable and highly efficient operation by dynamically or statically controlling an actuator characteristic when moving the whole machine body in the middle of overturning/falling. SOLUTION: An actuator of respective joint parts is increased in attitudinal stability by performing highly accurate positioning control on these respective joint parts by maintaining the actuator characteristic of the joint parts related to stable area control with respective stages of overturning operation so that low area gain increases, a phase-lead quantity reduces, and viscous resistance of a joint increases. Thus, operational stability can be increased by securing joint positioning accuracy being a main component for controlling a quantity ofΔS/ΔT being a norm when controlling the overturning operation of the machine body. COPYRIGHT: (C)2004,JPO&NCIPI
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