| 摘要 |
PROBLEM TO BE SOLVED: To realize stable and high efficient action when various actions such as ascending / descending of steps are carried out. SOLUTION: A gain of a low frequency region is set to large, an amount of a leading phase in a high frequency region is set to small, and viscosity resistance of the joint is set large in characteristic of each actuator of all the joints in a stage wÐ when supported by both legs before the ascending / descending of the steps in the work of the ascending / descending of the steps. Then, the gain of the low frequency region is set to small, the amount of the leading phase is set to large, and the viscosity resistance of the joint is set to small in characteristic of each actuator of a pitch axis of a knee joint and roll and pitch axes of the ankle on the free leg side in a stage when the first step is taken for the ascending / descending of the steps. COPYRIGHT: (C)2004,JPO&NCIPI
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