| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg type mobile robot which prevents a fuel cell from failing to restart and whose storage means charged by output power of the fuel cell serves as a start-up auxiliary power supply for the fuel cell. SOLUTION: This leg type mobile robot is provided with an operating control means 4 controlling the operation of the leg type mobile robot, a storage means 3 used as an operating power supply of the leg type mobile robot, a fuel cell 1, a fuel cell start-up means 8 starting up the fuel cell 1, a fuel supply means 9 supplying fuel to the fuel cell 1, and a charging means 2 which generates charging current from the output of the fuel cell 1 to charge the storage means 3. When the fuel cell start-up means 8 starts up the fuel cell 1 by the output power of the storage mans 3 and the operating control means 4 stops the operation of the fuel cell 1 to stop the operation of the leg type mobile robot, the storage means 2 charges the storage means 3 up to reference voltage set at approx. maximum rated voltage of the storage means 3 to stop the supply of operating electric power from the storage means 3 to the leg type mobile robot. |
