TWO-LEGGED WALKING TYPE HUMAN-SHAPED ROBOT

摘要

A two−legged walking type human−shaped robot, which enables smooth actions with wirings, simplified in an action controller. This robot comprises a barrel section (11), leg sections (12L, 12R) comprising knee sections (21L, 21R) and foot sections (17L, 17R), arm sections (13L, 13R) comprising elbow sections (31L, 31R) and hand sections (27L, 27R), and a head section (14) and has drive means for driving joint sections (11d, 11e; 18L, 18R−24L, 24R; 28L, 28R−33L, 33R; 35, 36), respectively, and action controllers (40) for controlling the respective drive means on the basis of gait data matching with a requested action. The action controller is constituted of a main control section (41) provided in the barrel section and subcontrol sections (42) dispersedly disposed adjacent to the respective drive means. Each subcontrol section (42) is LAN−connected to the main control section (41). Further, each control section includes a processor section (45) which operates a control signal for at least one corresponding drive means on the basis of a drive control signal from the main control section and a driver section (46) which drives a corresponding drive means on the basis of a control signal from the processor section.