| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot with a sense of intimacy which can be carried by human and loaded on a car, small, light in weight and free to move and gesticulate. SOLUTION: This robot is furnished with a leg link 1, a drum link 2, a rotary joint part 3 to connect the leg link and the drum link with each other free to rotate, an angle detection device 203 to detect an inclination in the vertical direction of either one of the leg link and the drum link, a joint angle detection means 202 to detect a joint angle of the rotary joint part between the links, a control computing means 201 to decide a position from a value of a rotating angle of the rotary joint part and an angle in the vertical direction and a joint driving device 4 to drive the rotary joint part in accordance with a command from the control computing means 201. COPYRIGHT: (C)2004,JPO
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