| 摘要 |
PROBLEM TO BE SOLVED: To quickly release a foreign matter that is inserted into a movable part and also to prevent the reoccurrence of the same insertion state by providing a means which discontinues the movement of the movable part and a means which controls an actuator to evade the movement discontinuation state of the movable part when the movement of the movable part is started again. SOLUTION: An entertainment robot contains an insertion release device 100 in its body part 2 to serve as an actuator controller. When a foreign matter is inserted between a root part 41 and the upper and lower leg parts 42 and 43 respectively, a user pushes a stop button 104. Then a power supply part 105 turns off the power supply of a power amplifier part 103 to stop the supply of a drive signal S4 to a motor 411. Thus, no torque is given to the upper leg part 42 and the inserted foreign matter is released. An operation generating part 101 changes an indication signal S1 to operate it in the opposite direction. The reoccurrence of the insertion state of a foreign matter can be prevented when the power supply is turned on again.
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