| 摘要 |
PROBLEM TO BE SOLVED: To enable high-speed action such as reflective action while reducing an operational amount or a concentrative calculation load of a control device. SOLUTION: The control configuration of a robot forms a hierarchial structure having a high-order central operation part corresponding to the brain, a control part of a reflection system corresponding to the spinal cord, a servo control system and an actuator which correspond to the muscle. The speed-up of a control cycle of a host central operation part is limited because of the constraint of power consumption. An external force applied to a body is an input of external disturbance of a high-frequency band and an extremely high-speed control system is required. Thus, a reflective control system corresponding to an intermediate hierarchy acts at a high-speed cycle to response to the speed-up and absorbs deviation due to an amount of the external disturbance. COPYRIGHT: (C)2004,JPO
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