| 摘要 |
PROBLEM TO BE SOLVED: To realize a stable and highly efficient action by dynamically and statically controlling two characteristics of an actuator itself and a controller of the actuator. SOLUTION: A leg type moving robot can carry out follow-up-control in a high band while reducing impact force at the moment of landing by obtaining mechanical passiveness and fast response property through setting a gain of a low frequency region to low, an amount of a leading phase to large and viscosity resistance of a joint to small relative to each actuator characteristic of a pitch shaft of a knee joint, and roll and pitch axes of an ankle on the free leg side in a stage when floor reaction force for a sole part of the free leg to receive is made to zero when the free leg is raised. COPYRIGHT: (C)2004,JPO&NCIPI
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