| 摘要 |
<p>A two-leg walking humanoid robot which is so designed as to ease an impact acting on each part thereof when it falls down and detect fallen conditions, and which is provided with contact detectors (40), wherein each contact detector (40) comprises an enclosing part (41) forming an exterior surface, a pressure sensor (42) for detecting a pressure acting on the enclosing part, and an impact absorbing material (43) for easing an impact acting on the enclosing part, the pressure sensor of a contact detector at a portion in contact with the floor surface or the like detects a pressure when the robot falls down, and a control unit recognizes the fallen conditions of the robot and drive-controls a drive means based on the current fallen conditions to allow the robot to perform a defensive fall operation when falling down or perform a standing-up operation for shifting to a two-leg standing status.</p> |
