| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to express insect-like actions by driving actuators in such a manner as to execute the actions regulated by action units selected according to an environmental condition for the duration time of the actions. SOLUTION: The obstruction existing within the action space is irradiated from left side and right side light emitting diodes 2a and 2b and the reflected rays are sensitized as environment signals by a phototransistor 3 which outputs an obstruction state signal as the environment state signal. A cadmium sulfide cell 4 sensitizes the external light in the action space, thereby setting an input parameter indicating the brightness in the action space. A microcomputer 10 regulates one kind among advance, retreat, right swivel, left swivel and stop as the kind of the action of the insect robot, regulates the duration time and execution speed of the action and drives electric motors as the actuators 13 and 14 for the duration time of the prescribed action at a duty ratio corresponding to the execution speed of the action.
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